论文标题
三叶草机器人：一个最小驱动的跳跃机器人平台，用于太空探索
CLOVER Robot: A Minimally Actuated Jumping Robotic Platform for Space Exploration
论文作者
论文摘要
通过提供超出人类限制的环境，机器人一直是空间探索的关键工具。跳跃机器人概念是谈判复杂地形的有吸引力的解决方案。但是，要克服的工程挑战，以实现持续运行的跳跃机器人概念，减少机械故障模式是最基本的之一。这项研究旨在开发一个跳跃机器人，重点是最小的致动，以减少机制维护。我们介绍了Sarrus风格的链接的合成，以将系统限制为单个翻译的自由度，而无需使用典型的同步齿轮。我们将本研究划定为垂直固体跳跃，以评估基本主要驱动连接的性能。实验室演示者有助于理论概念和方法的转移。实验室演示者以63％的电势转换效率进行跳高，理论最大为73％。令人满意的操作为设计优化和定向跳跃功能打开了开发空间探索的跳跃机器人平台。
Robots have been critical instruments to space exploration by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex terrain. However, among the engineering challenges to overcome to enable jumping robot concepts for sustained operation, reduction of mechanical failure modes is one of the most fundamental. This study set out to develop a jumping robot with focus on minimal actuation for reduced mechanism maintenance. We present the synthesis of a Sarrus-style linkage to constraint the system to a single translational degree of freedom without the use of typical synchronising gears. We delimit the present research to vertical solid jumps to assess the performance of the fundamental main-drive linkage. A laboratory demonstrator assists the transfer of theoretical concepts and approaches. The laboratory demonstrator performs jumps with 63% potential-to-kinetic energy conversion efficiency, with a theoretical maximum of 73%. Satisfactory operation opens up design optimisation and directional jump capability towards the development of a jumping robotic platform for space exploration.
