小型月面跳跃机器人设计及运动建模

严赫, 朱星月, 侯张俪, 王卫军, 张执南

Design and Motion Modeling of a Small-Scale Lunar Jumping Robot

YAN He, ZHU Xingyue, HOU Zhangli, WANG Weijun, ZHANG Zhinan

表2 离散元月壤力学特性参数汇总

Tab.2 Mechanical properties of discrete elemental lunar soil

参数 取值 k/mm 2.912 c/Pa 189.4 θ/(°) 26.89 K/[MN·m-(2+n)] 599.7 n 2.513 4 Ah/[{N}^{1+mh}·s·{m}^{-(3+mh)}] 4.615 2×10-3 mh 1.622 5 Av/[GN·s·{m}^{-(3+mv)}] 23.353 mv 2.648 9