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叶片伸缩式步行轮 1

叶片弹簧 1

性能优化 1

探月工程 1

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Self-propelled automatic chassis of Lunokhod-1: History of creation in episodes

Mikhail MALENKOV

《机械工程前沿（英文）》 2016年第11卷第1期页码 60-86 doi: 10.1007/s11465-016-0370-5

摘要：

This report reviews the most important episodes in the history of designing the self-propelled automatic chassis of the first mobile extraterrestrial vehicle in the world, Lunokhod-1. The review considers the issues in designing moon rovers, their essential features, and the particular construction properties of their systems, mechanisms, units, and assemblies. It presents the results of exploiting the chassis of Lunokhod-1 and Lunokhod-2. Analysis of the approaches utilized and engineering solutions reveals their value as well as the consequences of certain defects.

关键词： moon rover self-propelled chassis propulsion wheel suspension soil properties cross-country ability

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Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth rover

《机械工程前沿（英文）》 2023年第18卷第2期 doi: 10.1007/s11465-022-0740-0

摘要： Earth rover is a class of emerging wheeled-leg robots for nature exploration. At present, few methods for these robots’ leg design utilize a side-mounted spatial parallel mechanism. Thus, this paper presents a complete design process of a novel 5-degree-of-freedom (5-DOF) hybrid leg mechanism for our quadruped earth rover BJTUBOT. First, a general approach is proposed for constructing the novel leg mechanism. Subsequently, by evaluating the basic locomotion task (LT) of the rover based on screw theory, we determine the desired motion characteristic of the side-mounted leg and carry out its two feasible configurations. With regard to the synthesis method of the parallel mechanism, a family of concise hybrid leg mechanisms using the 6-DOF limbs and an L_1F1C limb (which can provide a constraint force and a couple) is designed. In verifying the motion characteristics of this kind of leg, we select a typical (3-UPRU&RRRR)&R mechanism and then analyze its kinematic model, singularities, velocity mapping, workspace, dexterity, statics, and kinetostatic performance. Furthermore, the virtual quadruped rover equipped with this innovative leg mechanism is built. Various basic and specific LTs of the rover are demonstrated by simulation, which indicates that the flexibility of the legs can help the rover achieve multitasking.

关键词： design synthesis parallel mechanism hybrid leg mechanism screw theory quadruped robot

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我国探月工程运载火箭选型问题探讨

龙乐豪

《中国工程科学》 2002年第4卷第9期页码 31-37

摘要：

“发展空间科学，开展深空探测”是我国近期（2010年前后）的航天发展目标之一，月球探测是实现我国“开展深空探测”的第一步。发射月球探测器（或卫星）选择适当的火箭型号显得尤其重要。文章从月球探测工程对运载火箭的基本要求着手，结合国外月球探测工程的经验和长征系列火箭的现状，提出了候选火箭及其改造方案，并且对月球探测三种运行轨道的优缺点和工程的可实现性进行了分析。从航天大系统工程整体化的角度，提出了用长征三号乙加上面级发射环月卫星，同时将上面级实现硬（或软）着陆作为首选方案，用长征三号丙发射探月器进入奔月轨道作为次选方案的建议。

关键词：探月工程运载火箭选型研究

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嫦娥五号探测器成功带回月球岩石

Mitch Leslie

《工程（英文）》 2021年第7卷第5期页码 544-546 doi: 10.1016/j.eng.2021.03.007

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全球迎来新一轮探月热潮

Mitch Leslie

《工程（英文）》 2023年第30卷第11期页码 10-12 doi: 10.1016/j.eng.2023.09.003

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Experimental study and field application of calcium sulfoaluminate cement for rapid repair of concrete pavements

Yanhua GUAN, Ying GAO, Renjuan SUN, Moon C. WON, Zhi GE

《结构与土木工程前沿（英文）》 2017年第11卷第3期页码 338-345 doi: 10.1007/s11709-017-0411-0

摘要： The fast-track repair of deteriorated concrete pavement requires materials that can be placed, cured, and opened to the traffic in a short period. Type III cement and Calcium Sulfoaluminate (CSA) cement are the most commonly used fast-setting hydraulic cement (FSHC). In this study, the properties of Type III and CSA cement concrete, including compressive strength, coefficient of thermal expansion (CTE) and shrinkage were evaluated. The test results indicate that compressive strength of FSHC concrete increased rapidly at the early age. CSA cement concrete had higher early-age and long term strength. The shrinkage of CSA cement concrete was lower than that of Type III cement concrete. Both CSA and Type III cement concrete had similar CTE values. Based on the laboratory results, the CSA cement was selected as the partial-depth rapid repair material for a distressed continuously reinforced concrete pavement. The data collected during and after the repair show that the CSA cement concrete had good short-term and long-term performances and, therefore, was suitable for the rapid repair of concrete pavement.

关键词： Calcium Sulfoaluminate (CSA) cement Type III cement coefficient of thermal expansion (CTE) shrinkage rapid repair

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电沉积Mo和Mo-Co合金纳米线用于互联电阻的电阻率改性 Article

Jun Hwan Moon, Taesoon Kim, Youngmin Lee, Seunghyun Kim, Yanghee Kim, Jae-Pyoung Ahn, Jungwoo Choi, Hyuck

《工程（英文）》 2024年第32卷第1期页码 128-138 doi: 10.1016/j.eng.2023.07.017

摘要：

Achieving historically anticipated improvement in the performance of integrated circuits is challenging, due to the increasing cost and complexity of the required technologies with each new generation. To overcome this limitation, the exploration and development of novel interconnect materials and processes are highly desirable in the microelectronics field. Molybdenum (Mo) is attracting attention as an advanced interconnect material due to its small resistivity size effect and high cohesive energy; however, effective processing methods for such materials have not been widely investigated. Here, we investigate the electrochemical behavior of ions in the confined nanopores that affect the electrical properties and microstructures of nanoscale Mo and Mo–Co alloys prepared via template-assisted electrodeposition. Additives in an electrolyte allow the deposition of extremely pure metal materials, due to their interaction with metal ions and nanopores. In this study, boric acid and tetrabutylammonium bisulfate (TBA) were added to an acetate bath to inhibit the hydrogen evolution reaction. TBA accelerated the reduction of Mo at the surface by inducing surface conduction on the nanopores. Metallic Mo nanowires with a 130 nm diameter synthesized through high-aspect-ratio nanopore engineering exhibited a resistivity of (63.0 ± 17.9) μΩ·cm. We also evaluated the resistivities of Mo–Co alloy nanowires at various compositions toward replacing irreducible conventional barrier/liner layers. An intermetallic compound formed at an Mo composition of 28.6 at%, the resistivity of the Mo–Co nanowire was (58.0 ± 10.6) μΩ·cm, indicating its superior electrical and adhesive properties in comparison with those of conventional barriers such as TaN and TiN. Furthermore, density functional theory and non-equilibrium Green’s function calculations confirmed that the vertical resistance of the via structure constructed from Mo-based materials was 21% lower than that of a conventional Cu/Ta/TaN structure.

关键词： Molybdenum Molybdenum–cobalt Interconnect Microstructure Electrodeposition Density functional theory

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月球车叶片伸缩式步行轮的力学分析和性能优化 Article

杨璐, 蔡博文, 张荣辉, 李克宁, 张子贤, 雷洁浩, 陈百超, 王荣本

《工程（英文）》 2020年第6卷第8期页码 936-943 doi: 10.1016/j.eng.2020.07.009

摘要：

在探月工程计划中，月球车的车轮系统是月球车总体设计系统的重要子系统之一。由于月表地形复杂，同时受限于月球车有限的空间，因此大大增加了车轮系统设计和优化工作的难度。本研究的主要目标是针对自主设计的月球车机械结构，建立一个原理型样机以对其性能进行优化。研究的主要工作包括：为应对月表复杂路况，提出了一种适配月球车正反四边形悬架的新型叶片伸缩式步行轮；以功耗最小化为目标，在保证障碍通过性的前提下，分析车轮运动过程中受力情况以实现对车轮的性能优化；最后，基于数字仿真和综合实验方法，验证了新型车轮系统在实际实验中可以达到按需伸缩叶片和节约能耗的效果。本文的研究成果为中国月球车的研究和开发提供了一种技术参考。

关键词：特种智能载具叶片伸缩式步行轮性能优化叶片弹簧月球车