On May 22, 2021, at 10:40 am (Beijing Time), China's Zhurong rover successfully reached the Mars surface and began its exploration. China is only second nation to have conducted a successful soft landing exploration of red planet. The probe consists an orbiter rover. spacecraft includes entry module consisting back shell, platform, outsole, as well (Figure 1). Before release, orbiter, which carries rover, completed Earth–Mars orbital transfer orbit reduction maneuver. After nearly 3.5 h...

Dynamic prediction of failure risk loads is a critical prerequisite for system damage monitoring and service life evaluation. As the mechanism electric vehicle drive motors under multi-source load excitations complex, poses challenges in rapid acquisition, physics-based data-driven method multi-dimensional proposed. Based on actual operational data collected from users, we analyze various components motor. A physical simulation model motor established to extract time history, effectiveness...

Continuum robots (CRs) are highly effective in grasping moving targets space through whole-arm (WAG), offering broad applicability and reliable capture. These characteristics make CRs particularly suitable for capturing non-cooperative targets. Compliant control plays a crucial role ensuring safe interactions during the process. This paper proposes virtual-integrated admittance (VIAC) method specifically designed to enhance WAG by CRs. By proactively adjusting robot’s trajectory before...

China’s Mars rover Zhurong successfully landed on 15 May 2021, and it is currently conducting an exploration mission the Red Planet. This paper develops slip estimation models for based data drive approach. Data were obtained by Zhurong’s validator ground indoor tests, test site was equipped with a low-gravity simulation device simulated soil to simulate conditions as much possible. The trained BP GA-BP algorithms applied estimate longitudinal (slip_x) lateral (slip_y) Mars, values used...

The theory of economic life prediction and reliability assessment aircraft structures has a significant effect on safety structures. It is based the two-stage fatigue process can guarantee According to damage process, scatter factors crack initiation stage propagation are given respectively. At same time, mathematical models presented by utilizing full scale test results Furthermore, model put forward. scientific value for products provide longer life, higher lower cost. been successfully...

Abstract In recent years, wall-climbing robots have begun to replace manual work at heights reduce economic losses and casualties caused by working heights. This paper designs a negative pressure adsorption type robot analyzes the internal fluid movement state of its device force analysis when it is adsorbed balanced. Furthermore, through experimental prototype, influence wall material, pose, cavity shape sealing method on performance explored. The computational dynamics simulation (CFD)...

Addressing the problem that control methods of wheel-legged robots for future Mars exploration missions are too complex, a time-efficient method based on velocity planning hexapod robot is proposed in this paper, which named (TeCVP). When foot end or wheel at knee comes into contact with ground, desired transformed according to transformation rigid body from torso obtained by deviation position and posture. Furthermore, torques joints can be impedance control. suspended, leg regarded as...

Aimed at the difficulty of path planning resulting from variable configuration wheel-legged robot for future deep space explorations, this paper proposes a algorithm based on Theta* and Timed Elastic Band (TEB) algorithm. Firstly, structure is briefly introduced, workspace single leg analyzed. Secondly, method to judge complete obstacles incomplete according height proposed alongside search virtual obstacles, generate grid map wheel body, respectively. By dividing into split body path. The...

Monitoring the rover slip is important; however, a certain level of estimation uncertainty inevitable. In this paper, we establish models for China’s Mars rover, Zhurong, using Gaussian process regression (GPR). The model was able to predict not only average value longitudinal (slip_x) and lateral (slip_y), but also maximum possible that slip_x slip_y could reach. training data were collected on two simulated soils, TYII-2 JLU Mars-2, GA-BP algorithm applied as comparison. analysis results...

In this paper, a crawler-type wall-climbing robot with negative pressure adsorption is designed. The dynamic model of the established based on method discretizing force load track shoe. correctness kinematic and proved by comparing two different ways virtual prototype simulation experiment. According to results prototype, influence design parameters motion performance analyzed. smaller speed difference between tracks robot, longer gauge tracks, greater inclination wall, larger turning radius...

With the development and upgrading of intelligent mines, research on unmanned walking electric shovels (ES) has been carried out to improve moving efficiency extra-large excavators. This paper first introduces an shovel’s primary condition in open-pit mine. According characteristics heavy-duty crawler, artificial potential field (APF) algorithm is improved plan trajectory shovel carry simulation verification. A dynamic model established. fuzzy control tracking method proposed based preview...

To investigate the effect of temperature on compressive strength CoCrFeMnNi high entropy alloy with lattice structures prepared by powder bed fusion, mechanical properties at a in range from 20 °C to 900 were obtained through self-developed in-situ mechanical-thermal coupling system. The real-time deformation behaviors observed an optical-infrared dual-spectrum imaging experimental results indicated that strength, structural stiffness, and energy absorption specimens increased increasing...