CN106515891A - Friction drive type throwing spherical robot - Google Patents
Friction drive type throwing spherical robot Download PDFInfo
- Publication number
- CN106515891A CN106515891A CN201611117744.7A CN201611117744A CN106515891A CN 106515891 A CN106515891 A CN 106515891A CN 201611117744 A CN201611117744 A CN 201611117744A CN 106515891 A CN106515891 A CN 106515891A
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- Prior art keywords
- steering wheel
- friction
- fixing body
- horizontal
- cue ball
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention discloses the structural design of a friction drive type throwing spherical robot and belongs to the field of robot design. The spherical robot is mainly composed of a structure part and a control part, and the structure optimization design and a driving mode of the spherical robot are researched emphatically. The spherical robot is driven by a single-point friction drive ball, and the working principle of an old mechanical mouse is utilized. Rotating rods in the X, Y and Z directions are rotated through rolling of a rubber ball, and rolling and rotation of the rubber ball are driven through rotating of the rotating rods in the X, Y and Z directions by means of the design of the mechanical mouse in turn nowadays. The drive ball is driven to produce omni-directional motion through three sets of metal steering engines, and then an outer spherical shell is driven to rotate through the friction force. Sliding balls arranged on the periphery of a horizontal platform are optimally designed so that the phenomenon that a ball body is shaky and unstable due to two point contact can be avoided, and the system smoothness is ensured. The upper portion of the friction drive type throwing spherical robot is provided with a friction force pressurizing mechanism for jacking the spherical shell, and an auxiliary gravity pressurizing effect is achieved.
Description
Technical field
The present invention is the hand throwing type friction ball shape robot of the indoor and outdoor movement towards particular surroundings.It is right in particular circumstances
Landform is surveyed and the military activity such as anti-terrorism.
Background technology
With the continuous development and renewal of science and technology, the range of application of robot also gradually develops in every field, OK
Robot walking plays vital effect in fields such as space probation, military affairs, industry, fire-fighting, anti-terrorisms, has also obtained various countries
It is more extensive to support.Traditional Zu Bu robots are compared, spherical robot mechanism is novel, has many in performance and application aspect
Prominent advantage.It is little which takes up an area space；Kinetic friction force is little；Radius of turn theory is zero；Omnibearing movable can be realized；It is spherical
Robot can have that movement velocity is fast, bearing capacity is strong, motor is few again, control simple advantage, while ball shape robot
Totally enclosed shell can effectively protect its internal mechanism and device.Existing ball shape robot structure is more complicated, Er Qieti
Product is huge, is unfavorable for the exploration of narrow and small environment.Therefore, a small volume, simple structure and stable ball shape robot are designed
Structure becomes the research emphasis of present ball shape robot.
The content of the invention
The present invention effect of friction cue ball in driving force in the design of single-point friction-driven spherical structure for ball shape robot
Easy sideslip carries out structure optimization down, pushes down friction cue ball using metal steering wheel in X, Y, Z axis direction, and using formed symmetrical
Buphthalmos wheel lower bracing frame holds friction cue ball from below the horizontal line of ball, from six direction fixed friction cue ball.
A kind of friction-driving hand toss anthropomorphic robot, the robot include intermediate support plate (101), right horizontal steering wheel peace
Assembling device (102), buphthalmos wheel support cue ball device (103), left horizontal steering wheel erecting device (104), oblique steering wheel erecting device
(105), friction cue ball (2), spherical housing (3), the horizontal steering wheel fixing body (4) of X, Y, oblique steering wheel fixing body (5), oblique steering wheel are with
Between board assembly (6), intermediate support plate and pressue device positioning long threaded rod (7), upper backup pad sub-assembly (801), upper backup pad
(802)；In ball shape robot, right horizontal steering wheel erecting device (102) is threaded connection solid with X horizontal direction steering wheel fixing bodies
It is scheduled on X horizontal directions；Left horizontal steering wheel erecting device (104) is threaded connection with the horizontal steering wheel fixing body of Y-direction and is fixed on Y
Horizontal direction.
Steering wheel erecting device of the right horizontal steering wheel erecting device (102) for X-direction；Left horizontal steering wheel erecting device (104)
For the steering wheel erecting device of Y-direction；Steering wheel erecting device of oblique steering wheel erecting device (105) for Z-direction；
X horizontal directions steering wheel and Y-direction hydroplane machine composition X, the horizontal steering wheel fixing body (4) of Y-direction, X, Y-direction level
Horizontal steering wheel (401) in steering wheel fixing body (4) and trunnion axis (402) are by interference fit and gluing consolidation process；X, Y-direction
Trunnion axis (402) in horizontal steering wheel fixing body (4) is arranged on using the resilient tight fit of rubber with hydroplane rubber case (403)
On trunnion axis (402)；Fixed X, the horizontal steering wheel fixing body of Y-direction are coordinated by long spiro nail (404) and horizontal steering wheel (401) screw thread
(4)；Right horizontal steering wheel erecting device (102) and left horizontal steering wheel erecting device (104) are installed with X, Y horizontal direction steering wheel respectively
Body (4) is installed；
Friction cue ball (2) is pushed down by six direction, and three buphthalmos wheels support cue ball device (103) symmetrically to withstand in spherical space
Friction cue ball (2), realizes the fixation to the cue ball (2) that rubs from three points；Level in the horizontal steering wheel fixing body (4) of X, Y-direction
The rubbing device that axle (402) and rubber case (403) are constituted pushes down friction cue ball (2), oblique steering wheel fixing body to, Y-direction along X respectively
(5) friction cue ball (2) is pushed down along Z-direction；
The oblique steering wheel axle (502) that tiltedly steering wheel erecting device (105) is fixed in oblique steering wheel fixing body (5)；Oblique steering wheel fixing body
(5) the oblique steering wheel (501) in and oblique steering wheel axle (502) are by interference fit and gluing consolidation process；Tiltedly in steering wheel fixing body (5)
Oblique steering wheel axle (502) and oblique rudder rubber case (503) be arranged on oblique steering wheel axle (502) using the resilient tight fit of rubber；It is logical
Cross when coordinating oblique steering wheel erecting device (105), it is determined that position when tiltedly steering wheel fixing body (5) is tangent with friction cue ball (2)；
Upper backup pad sub-assembly (801) in pressue device (8) withstands spherical housing (3)；Upper backup pad (802) and centre
It is fixed that gripper shoe (101) positions long threaded rod (7) by intermediate support plate and pressue device；It is outer with spherical by the cue ball (2) that rubs
The friction-driven ball shape robot of shell (3) carries out all-around mobile.
Level is driven with trunnion axis (402) by driving horizontal steering wheel (401) in X, Y horizontal direction steering wheel fixing body (4)
Rudder rubber case (403) is rubbed with friction cue ball (2)；By X, Y horizontal direction steering wheel fixing body (4) and oblique steering wheel fixing body
(5) the lower buphthalmos wheel (1032) and in buphthalmos wheel support cue ball device (103) is withstood friction cue ball (2) pressurization and is fixed, and passes through
Friction cue ball (2) carries out omnibearing movable with the single-point friction of spherical housing (3).
Bead is driven to carry out omnibearing movable by the driving to the cue ball (2) that rubs, driving principle is simple, but effect is bright
It is aobvious；Cue ball device (103) top is supported with oblique steering wheel fixing body (5) and buphthalmos wheel by X, Y horizontal direction steering wheel fixing body (4)
The cue ball (2) that firmly rubs completes pressurization and fixes, and this structure can complete the cue ball (2) that rubs from six direction fixed friction cue ball (2)
Fixation；Spherical housing (3) is withstood by pressue device (8), makes ball shape robot internal structure more stable.
The present invention has advantages below：
As structure is simple and compact for structure, the volume of ball shape robot can be substantially reduced, accomplish the small ball of research invention
The effect of anthropomorphic robot；
As the interference fit adhesive tape moving axis of steering wheel and axle are rotated, solve under conditions of sphere area is constant, bottom
Portion's narrow space can not arrange the defect of steering wheel position very well；
As type of drive is single-point friction-driven, bead motion is driven by friction, so must be very stable
The position of fixed friction cue ball, supports cue ball device with oblique steering wheel fixing body and buphthalmos wheel by horizontal direction steering wheel fixing body
Withstand friction cue ball and complete pressurization fixation, this structure can complete the cue ball that rubs well from 6 direction fixed friction cue balls
It is fixed, as pressue device withstands spherical housing by the single-point friction of buphthalmos wheel, ball shape robot internal structure can be made more
Plus it is stable.
Description of the drawings
Fig. 1 ball shape robot structure isometric side views.
Fig. 2 lower bracing frame assembly schematic diagrames.
Fig. 3 pressue device schematic diagrames.
Fig. 4 ball shape robot motion principle structure diagrams.
Fig. 5 buphthalmos wheel supports cue ball schematic device.
Fig. 6 horizontal direction steering wheel fixing body schematic diagrames.
The right horizontal steering wheel erecting device schematic diagrames of Fig. 7 (X-direction).
The left horizontal steering wheel erecting device schematic diagrames of Fig. 8 (Y-direction).
The oblique steering wheel fixing body schematic diagrames of Fig. 9.
Installing rack schematic diagram on the oblique steering wheels of Figure 10.
Specific embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing 1-10.
With reference to Fig. 1, this friction-driving hand toss anthropomorphic robot by lower bracing frame assembly (1) and pressue device (8) is
Agent structure is constituted, including：Intermediate support plate (101), right horizontal steering wheel erecting device (102), buphthalmos wheel support cue ball
Device (103), left horizontal steering wheel erecting device (104), oblique steering wheel erecting device (105), friction cue ball (2), spherical housing
(3), the horizontal steering wheel fixing body (4) of X, Y, oblique steering wheel fixing body (5), oblique steering wheel and middle board assembly (6), intermediate support plate with
Pressue device positioning long threaded rod (7), upper backup pad sub-assembly (801), upper backup pad (802)；Wherein, lower bracing frame assembly
(1) intermediate support plate (101) in and oblique steering wheel and oblique steering wheel in middle board assembly (6) and 601 screw thread of intermediate plate fixed block
Connection；Right horizontal steering wheel erecting device (102) is threadedly coupled with the horizontal steering wheel fixing body (4) of X, Y；Left horizontal steering wheel erecting device
(104) it is threadedly coupled with the horizontal steering wheel fixing body (4) of X, Y；Oblique steering wheel erecting device (105) and oblique steering wheel fixing body (5) screw thread
Connection；Friction cue ball (2) is supported cue ball device (103) to hold by buphthalmos wheel, while the horizontal steering wheel fixing body (4) of X, Y and oblique rudder
Machine fixing body (5) pushes down friction cue ball (2)；Tiltedly steering wheel fixes oblique steering wheel with oblique steering wheel locating rack 602 in middle board assembly (6)
Fixing body (5)；Friction cue ball (2) and spherical housing (3) single-contact；Upper backup pad sub-assembly (801) top in pressue device (8)
Firmly spherical housing (3)；Intermediate support plate (101) in pressue device (8) in upper backup pad (802) and bracing frame assembly (1)
Long threaded rod (7) is positioned by intermediate support plate and pressue device fixed；
With reference to Fig. 2, this figure is ball shape robot lower bracing frame assembly, by intermediate support plate (101), right horizontal steering wheel peace
Assembling device (102), buphthalmos wheel support cue ball device (103), left horizontal steering wheel erecting device (104), oblique steering wheel erecting device
(105) constitute lower bracing frame assembly；Wherein right horizontal steering wheel erecting device (102) is threaded connection and intermediate support plate
(101) detent interference fit gluing process；Buphthalmos wheel supports cue ball device (103) and intermediate support plate (101) screw thread
Connecting and matching somebody with somebody location hole is beaten by positioning finger setting；Left horizontal steering wheel erecting device (104) is threaded connection and intermediate supports
Plate (101) detent interference fit gluing process；Tiltedly steering wheel erecting device (105) is connected with intermediate support plate (101) screw thread
Connecing and matching somebody with somebody location hole is beaten by positioning finger setting.
With reference to Fig. 3, during this figure is for the pressue device (8) of ball shape robot, by upper buphthalmos wheel locating piece (8011), upper support
Plate locating piece (8012), upper backup pad (8013), upper buphthalmos wheel (8014), Positioning screw (8015), upper backup pad (802) group
Into；Wherein upper backup pad locating piece (8012) is connected by screw fixed upper backup pad (8013), by Positioning screw (8015)
Fixed upper backup pad locating piece (8012), upper buphthalmos wheel 8014 are threadedly coupled with upper backup pad locating piece (8012) in composition and are supported
Plate sub-assembly (801)；Spherical housing (3) is withstood by gripper shoe groups component (801) in three directions with upper backup pad (802).
With reference to Fig. 4, this figure is ball shape robot motion principle structure diagram, and rub wherein in ball shape robot cue ball (2)
Supported cue ball device (103) to hold by three buphthalmos wheels, consolidating for the lower horizontal direction to the cue ball (2) that rubs is realized by a friction
It is fixed；In ball shape robot, right horizontal steering wheel erecting device (102) is threaded connection solid with X horizontal directions steering wheel fixing body (4)
It is scheduled on X horizontal directions；Left horizontal steering wheel erecting device (104) is threaded connection with the horizontal steering wheel fixing body of Y-direction and is fixed on Y
Horizontal direction；Tiltedly steering wheel fixing body (5) is fixed on the position tangent with friction cue ball (2), pressure by oblique steering wheel erecting device (105)
Firmly rub cue ball (2) so as to is unable to double swerve；By cue ball (2) and the spherical machine of friction-driven of spherical housing (3) of rubbing
People carries out all-around mobile.
With reference to Fig. 5, the buphthalmos wheeling supporting frame (1031) in cue ball device (103) is supported by short screw with buphthalmos wheel
(1033) it is threadedly coupled, withstands buphthalmos wheel and support lower buphthalmos wheel (1032) in cue ball device (103)；Cue ball dress is supported with buphthalmos wheel
Put the lower buphthalmos wheel (1032) in (103) and withstand friction cue ball (2), cue ball device (2) is supported from three directions using buphthalmos wheel
Friction cue ball (2) is withstood, friction cue ball (2) is scrolled down through.
With reference to Fig. 6, in the horizontal steering wheel fixing body (4) of X, Y-direction, horizontal steering wheel (401) and trunnion axis (402) are by interference
With the gluing consolidation process of merging；In the horizontal steering wheel fixing body (4) of X, Y-direction, trunnion axis (402) utilizes rubber with rubber case (403)
Resilient tight fit be arranged on trunnion axis (402) on；Fixed X, Y are coordinated by long spiro nail (404) and horizontal steering wheel (301) screw thread
The horizontal steering wheel fixing body (4) in direction；So as to reduce space of the horizontal steering wheel (401) with trunnion axis (402) when being connected, facilitate ball
The assembling of anthropomorphic robot.
With reference to Fig. 7, in right horizontal steering wheel erecting device (102), steering wheel installing rack (1021) is pacified with X, Y horizontal direction steering wheel
In dress body (4), horizontal steering wheel (401) is installed, the horizontal steering wheel (401) of fixation；Right horizontal steering wheel erecting device (102) centered rudder
Fixed steering wheel installing rack (1021) of machine installing rack locating piece (1022) and right axle installing rack (1023) position, make X, Y horizontal direction
In steering wheel fixing body (4), trunnion axis (302) is on steering wheel installing rack (1021) and right axle installing rack (1023)；By X, Y
In horizontal direction steering wheel fixing body (4), long spiro nail (404) is threadedly coupled with horizontal steering wheel (401), coordinates right axle installing rack
(1023), determine X, Y horizontal direction steering wheel fixing body (4) position in the horizontal direction.
With reference to Fig. 8, in left horizontal steering wheel erecting device (104), steering wheel installing rack (1041) is pacified with X, Y horizontal direction steering wheel
In dress body (4), horizontal steering wheel (401) is installed, the horizontal steering wheel (401) of fixation；Left horizontal steering wheel erecting device (104) centered rudder
Fixed steering wheel installing rack (1041) of machine installing rack locating piece (1042) and axle left installing rack (1043) position, make X, Y horizontal direction
In steering wheel fixing body (4), trunnion axis (402) is on steering wheel installing rack (1041) and left axle installing rack (1043)；By level
In direction steering wheel fixing body (4), long spiro nail (404) is threadedly coupled with horizontal steering wheel (401), coordinates left axle installing rack (1043), really
Determine horizontal direction steering wheel fixing body (4) position in the horizontal direction.
With reference to Fig. 9, oblique steering wheel axle (502) in the fixed oblique steering wheel fixing body (5) of oblique steering wheel erecting device (105)；Oblique steering wheel
In fixing body (5), oblique steering wheel (501) and oblique steering wheel axle (502) are by interference fit and gluing consolidation process；Oblique steering wheel fixing body
(5) the oblique steering wheel axle (502) in is arranged on axle (502) using the resilient tight fit of rubber with rubber case (503) and passes through oblique rudder
In machine fixing body (5), long spiro nail (504) is threadedly coupled with oblique steering wheel (501), coordinates oblique steering wheel erecting device (105) to determine oblique rudder
Machine fixing body (5) position when tangent with friction cue ball (2).
With reference to Figure 10, oblique steering wheel with middle board assembly (6) tiltedly steering wheel and intermediate plate fixed block (601) with being threadedly coupled
It is fixed on intermediate support plate；Oblique steering wheel and oblique steering wheel in middle board assembly (6) and intermediate plate fixed block (601) and oblique steering wheel
Locating rack (602) is threadedly coupled and with punching alignment pin；Tiltedly steering wheel locating rack (602) is for fixing oblique steering wheel fixing body (5) position
Put.
Claims (6)
1. a kind of friction-driving hand toss anthropomorphic robot, it is characterised in that：The robot includes intermediate support plate (101), the right side
Horizontal steering wheel erecting device (102), buphthalmos wheel support cue ball device (103), left horizontal steering wheel erecting device (104), oblique steering wheel
Erecting device (105), friction cue ball (2), spherical housing (3), the horizontal steering wheel fixing body (4) of X, Y, oblique steering wheel fixing body (5), tiltedly
Steering wheel and middle board assembly (6), intermediate support plate and pressue device positioning long threaded rod (7), upper backup pad sub-assembly (801),
Upper backup pad (802)；In ball shape robot, right horizontal steering wheel erecting device (102) passes through spiral shell with X horizontal direction steering wheels fixing body
Line is fastened on X horizontal directions；Left horizontal steering wheel erecting device (104) is connected by screw thread with the horizontal steering wheel fixing body of Y-direction
Connect and be fixed on Y horizontal directions；
Steering wheel erecting device of the right horizontal steering wheel erecting device (102) for X-direction；Left horizontal steering wheel erecting device (104) is Y side
To steering wheel erecting device；Steering wheel erecting device of oblique steering wheel erecting device (105) for Z-direction；
X horizontal directions steering wheel and Y-direction hydroplane machine composition X, the horizontal steering wheel fixing body (4) of Y-direction, the horizontal steering wheel of X, Y-direction
Horizontal steering wheel (401) in fixing body (4) and trunnion axis (402) are by interference fit and gluing consolidation process；X, Y-direction level
Trunnion axis (402) in steering wheel fixing body (4) is arranged on level using the resilient tight fit of rubber with hydroplane rubber case (403)
On axle (402)；Fixed X, the horizontal steering wheel fixing body (4) of Y-direction are coordinated by long spiro nail (404) and horizontal steering wheel (401) screw thread；
Right horizontal steering wheel erecting device (102) and left horizontal steering wheel erecting device (104) respectively with X, Y horizontal direction steering wheel fixing body
(4) installed.
2. a kind of friction-driving hand toss anthropomorphic robot according to claim 1, it is characterised in that：Friction cue ball (2)
Pushed down by six direction, three buphthalmos wheels support cue ball device (103) symmetrically to withstand friction cue ball (2) in spherical space, realize from
Fixation of three points to the cue ball (2) that rubs；Trunnion axis (402) and rubber case in the horizontal steering wheel fixing body (4) of X, Y-direction
(403) rubbing device for constituting pushes down friction cue ball (2) to, Y-direction along X respectively, and oblique steering wheel fixing body (5) pushes down friction along Z-direction
Cue ball (2).
3. a kind of friction-driving hand toss anthropomorphic robot according to claim 1, it is characterised in that：Tiltedly steering wheel installs dress
Put the oblique steering wheel axle (502) in the oblique steering wheel fixing body (5) of (105) fixation；Tiltedly the oblique steering wheel (501) in steering wheel fixing body (5) with
Tiltedly steering wheel axle (502) is by interference fit and gluing consolidation process；Tiltedly the oblique steering wheel axle (502) in steering wheel fixing body (5) with it is oblique
Rudder rubber case (503) is arranged on oblique steering wheel axle (502) using the resilient tight fit of rubber；By coordinating oblique steering wheel erecting device
(105) when, it is determined that position when tiltedly steering wheel fixing body (5) is tangent with friction cue ball (2).
4. a kind of friction-driving hand toss anthropomorphic robot according to claim 1, it is characterised in that：Pressue device (8)
In upper backup pad sub-assembly (801) withstand spherical housing (3)；Upper backup pad (802) is with intermediate support plate (101) by centre
Gripper shoe is fixed with pressue device positioning long threaded rod (7)；By rubbing, cue ball (2) is spherical with the friction-driven of spherical housing (3)
Robot carries out all-around mobile.
5. a kind of friction-driving hand toss anthropomorphic robot according to claim 1, it is characterised in that：By driving X, Y
In horizontal direction steering wheel fixing body (4), horizontal steering wheel (401) drives hydroplane rubber case (403) with friction with trunnion axis (402)
Cue ball (2) is rubbed；Master is supported with oblique steering wheel fixing body (5) and buphthalmos wheel by X, Y horizontal direction steering wheel fixing body (4)
Lower buphthalmos wheel (1032) in ball device (103) is withstood friction cue ball (2) pressurization and is fixed, outer with spherical by the cue ball (2) that rubs
The single-point friction of shell (3) carries out omnibearing movable.
6. a kind of friction-driving hand toss anthropomorphic robot according to claim 1, it is characterised in that：By to friction master
The driving of ball (2) drives bead to carry out omnibearing movable, and driving principle is simple, but effect is obvious；By X, Y horizontal direction rudder
Machine fixing body (4) supports cue ball device (103) to withstand friction cue ball (2) with oblique steering wheel fixing body (5) and buphthalmos wheel and completes to add
Pressure is fixed, and this structure from six direction fixed friction cue ball (2), can complete the fixation of friction cue ball (2)；By pressue device
(8) spherical housing (3) is withstood, makes ball shape robot internal structure more stable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611117744.7A CN106515891A (en) | 2016-12-07 | 2016-12-07 | Friction drive type throwing spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611117744.7A CN106515891A (en) | 2016-12-07 | 2016-12-07 | Friction drive type throwing spherical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106515891A true CN106515891A (en) | 2017-03-22 |
Family
ID=58341840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611117744.7A Pending CN106515891A (en) | 2016-12-07 | 2016-12-07 | Friction drive type throwing spherical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106515891A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108296949A (en) * | 2017-12-12 | 2018-07-20 | 安徽省光明粮油工业有限公司 | A kind of part intrados manual grinding device |
| CN108583708A (en) * | 2018-04-12 | 2018-09-28 | 浙江大学 | A kind of ball shape robot |
| CN111376663A (en) * | 2020-04-02 | 2020-07-07 | 青岛海研电子有限公司 | Amphibious spherical robot |
| CN113291492A (en) * | 2021-07-27 | 2021-08-24 | 中国科学院地质与地球物理研究所 | Dynamic robot for surface friction of terrestrial celestial body and moving method thereof |
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Cited By (5)
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| CN113291492A (en) * | 2021-07-27 | 2021-08-24 | 中国科学院地质与地球物理研究所 | Dynamic robot for surface friction of terrestrial celestial body and moving method thereof |
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Application publication date: 20170322 |