http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
엄위섭(Eom, We-sub),김연규(Kim, Youn-kyu),이주희(Lee, Joo-hee),최기혁(Choi, Gi-hyuk),심은섭(Sim, Eun-sup) 한국항공우주연구원 2012 항공우주산업기술동향 Vol.10 No.2
본 논문은 미국의 NASA에서 개발되어 화성 탐사 임무를 수행하였거나 현재 수행중인 무인 행성탐사용 로버의 발전동향에 관한 것이다. Mars Pathfinder, MER, MSL 프로그램 각각에 대한 탐사 임무의 목표 및 목적, 로버의 특징, 주행 장치, 탑재된 과학 장비의 기능, 임무 기간 동안 이동한 경로와 임무 종료 등에 관해 개략적으로 정리하였다. 또한, 부여된 임무의 다양성과 발사체, 과학 장비, 시스템 제어, 우주 기술 등의 발전에 힘입어좀 더 구체적이고 정밀한 탐사 자료의 획득을 위해 점차 대형화 되어 가는 로버의 특징들을 분석하였다. 분석된 결과를 바탕으로 향후 우리나라의 로버 연구 개발에 참고가 되기를 희망한다. In this paper, the development trend of NASA"s unmanned planetary exploration rover that had performed or has performed the Mars exploration is summarized. For each program such as Mars Pathfinder, MER and MSL mission, goals and objectives of the exploration mission, characteristics of rovers, mobility system of rovers, roles and functions about equipped science instruments, travel path of each rover during the period of mission and missions terminated are summarized. In addition, features of rovers that are larger for acquiring more specific and precise data about Mars exploration are determined according to the development of technologies such as granted mission diversity, projectiles, science instruments, system control and space technologies, etc. Based on results of the analysis, We hope to be refered about a rover that our country will research and develop in the future.
Mingyo Seo(서민교),Woosub Lee(이우섭) Korean Society for Precision Engineering 2019 한국정밀공학회지 Vol.36 No.4
This paper reviews design elements and presents a mobile platform that has full access of wheel actuation for explicit steering with a minimized number of actuators. For the purpose of exploring lunar surfaces, there are two main design perspectives to be considered. First, the mobile system should guarantee traversability on rough terrain in microgravity condition. Secondly, the system should be sustainable in the extreme environment of the lunar surface including cosmic rays and excessive temperature changes. One of the potential solutions to improve the reliability of the rover system is to reduce the chance of failure by minimizing the number of electronic components including actuators and their following components and installing them in the rover’s warm-box. We approached the design of the mobile system in the aspect of its kinematics with assumptions of pure-rolling and non-lateral slip. We found a relation that a pair of front and rear wheels on the same side is coupled so that their alignment and rotational speed can be coupled by a mechanism. This allows advantages of explicit steering, minimizing redundancy of actuators and isolating all the electronic components from the effects of external environments. To demonstrate the feasibility of the system, we developed a rover testbed and presented its mobility of explicit steering by experiments of open-loop trajectory traveling.