摘要： 针对深空探测中（尤其是月球、火星和小行星探测）大型着陆探测器对小型移动机器人作为重要科学载荷的需求，综述了国内外小型星表探测机器人领域的发展现状，着重介绍了面向月球探测、火星探测和小行星探测的代表性小型机器人的任务需求、基本构型和样机测试情况。在系统总结小型星表探测机器人关键技术及发展趋势的基础上，提出了未来中国在该领域发展、完善的建议。分析表明：月球探测的高研究价值区域多位于崎岖地形中，体积小、运动性能强的轮式、足式机器人受到广泛关注，日本、英国、瑞士等国家已提出多种小型机器人概念，并研发原理样机进行测试试验；针对火星等存在稀薄大气层的星体探测，定位于配置组件的旋翼式无人机已成为国内外关注和研制的重点之一，同时面向特殊极端地形探测的小型轮式、翻滚式机器人也进入到原理样机测试阶段，美国在这些领域均保持突出优势；针对小行星等小质量、弱引力天体探测，小型翻滚式机器人成为其着陆探测的主流，美国开展了原理样机设计与试验，日本通过"隼鸟2号"任务已成功实现在轨应用。

关键词: 深空探测, 星表探测, 极端地形, 智能机器人, 越障能力, 翻滚运动

Abstract: In view of the requirements of small-scale mobile robots as scientific component loads for large-scale landing explorers in deep space exploration (particularly lunar, Mars and asteroid explorations), this paper summarizes the worldwide development status of small-scale planet surface exploration robots, focusing on the mission requirements, basic configuration and prototype testing of representative small-scale robots for the lunar, Mars and asteroid explorations. Based on the systematic summary of the developing trend of small-scale planet surface exploration robots, suggestions for the future development and improvement in this field in China are put forward. The analysis shows that: for the exploration of lunar rugged terrains which are of high research value, the small-scale wheeled and legged robots with strong motion performance have attracted wide attention, with countries such as Japan, Britain, Switzerland having proposed a series of design concepts, and many principle prototypes being tested; for the Mars and other planets with thin atmosphere, the rotorcraft as the component unit has become the focus of attention and development throughout the world. Meanwhile, the small-scale wheeled and roll-over robots for extreme terrain detection have also entered the stage of principle prototype testing, and the United States has maintained outstanding advantages in these fields; for the exploration of small mass and weak gravitational planets such as asteroids, the small-scale roll-over robots have become the mainstream of landing explorations. Japan’s small-scale robots in the Hayabusa 2 mission have been successfully applied in practical engineering.

Key words: deep space exploration, planet surface exploration, rugged terrains, intelligent robots, overstepping ability, rolling motion

中图分类号: 

• V476.4