越野过程与行驶装置设计中的科学与技术问题

doi:10.12382/bgxb.2024.0977

摘要/Abstract

摘要：

越野是人类生产、生活中一个十分常见的场景,开发安全、可靠、低功耗的高机动越野装备,以帮助人类到达自身不能到达的地方是人们的始终追求,特别是在军事与抢险救援等作业中。以创建一门技术科学学科为愿景,提出越野学的概念,阐释其内涵,系统地说明了越野学中表层土壤力学与附着力生成、行驶(走)装置设计理论与方法、越野行驶动力学与控制、越野机器人学与仿生越野学4个方面的关键科学与技术问题和当前的研究进展,并提出未来需要重点攻克的关键技术和越野装备研发建议。

关键词: 越野学, 高机动, 行驶装置, 运载装备, 机器人

Abstract:

Cross-terrain scenarios are common in human activities and production. The ongoing development of cross-terrain equipment characterized by high mobility, low power consumption, and safety is crucial. Such equipment enables human to access inaccessible areas, particularly in emergency rescue and military operations. This paper aims to establish a new technical scientific discipline. It introduces cross-terrain science and defines it. The paper methodically addresses major scientific and technological challenges in four areas of cross-terrain science: surface soil mechanics and adhesion, driving device design theory and method, cross-terrain driving dynamics and control, and ergonomics and biomimetics of cross-terrain machines. Additionally, it recommends priorities for future research and development in cross-terrain technologies and equipment.

Key words: cross-terrain science, high mobility, driving device, transport equipment, robot

中图分类号:

TJ810.1

毛明, 陈轶杰. 越野过程与行驶装置设计中的科学与技术问题[J]. 兵工学报, 2024, 45(12): 4191-4204.

MAO Ming, CHEN Yijie. Scientific and Technical Issues in Cross-terrain Process and Driving Device Design[J]. Acta Armamentarii, 2024, 45(12): 4191-4204.

图/表 8

图1 车辆-土壤交互作用模型[8]

Fig.1 Vehicle-soil interaction model[8]

图2 Ripsaw MS1无人车[24]

Fig.2 Ripsaw MS1 unmanned vehicle[24]

图3 Handle轮腿机器人[25]

Fig.3 Handle wheel-legged robot[25]

图4 多模式极限行程悬挂

Fig.4 Multi-mode extreme travel suspension

图5 Genshock馈能减振器[35]

Fig.5 Genshock energy feedback damper[35]

图6 可重构轮式履带[30]

Fig.6 Reconfigurable wheeled track[30]

图7 北约NG-NRMM[44]

Fig.7 NATO NG-NRMM[44]

图8 祝融号火星车[73]

Fig.8 Zhu Rong Mars rover[73]

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