月球探测机器人及其关键技术浅析

参考国内外月球探测的现状，对月球探测机器人的关键技术进行了分析；根据月球探测机器人的任务要求，提出了开发我国月球探测机器人系统的具体实现方案，在该方案中，采用“虚拟样机”技术，建立一个集三维实体设计、动力学建模、控制、可视化仿真于一体的虚拟月面计算机仿真环境，对月球机器人的静国学、运动学以及动力学进行仿真研究，为月球探测机器人结构参数、动力学参数及控制算法的优化提供了设计参数和验证场所；针对月面的复杂环境，提出建立一套智能传感系统的思想，从而实现机器人在复杂、未知的环境中的自主导航与控制。

A general lunar roving robot and its critical technology

Discussess the critical technology for a lunar roving robot on the background of both domestic & foreign research status quo, suggests a realization project for developing a lunar roving robot system in the light of the situation in China, by which, a 'virtual prototyping' technique to develop a virtual computer based simulating environment is introduced to integrate 3d design, dynamics modeling, control and visual simulation to simulate the lunar surface situation and runs further study on the statics, kinematics and dynamics of the lunar roving robot by taking full advantages of this integrated environment, so that the optimization of the structure parameters, dynamic parameter and control algorithm can be conveniently made available and introduces. An intelligent sensing system is introduced to achieve the autonomous navigation and control of the lunar roving robot under the complicated, atrocious, unknown environment on the moon.