面向小行星微重力环境探测的自恢复直立弹跳机器人设计

针对小行星微重力环境,提出了一种具有蛋形外壳,利用弹簧蓄力的并联腿弹跳机器人。该机器人无论以何种姿态落地,均可在重力矩作用下恢复直立姿态。这一设计相对于需要额外主动装置恢复直立的先前方案,节省了恢复直立所需的能耗,在结构上更为简单可靠。文中阐述了完整的机构设计方案,及相应的结构参数优化计算方法。通过的样机实验,设计方法的有效性得到验证。

Self Recovering Upright Bouncing Robot Design for Asteroid Microgravity Environment Exploration

This paper proposes a parallel legged bouncing robot with an egg shaped shell that uses spring loaded force accumulation. The robot can return to an upright posture under the action of the gravitational moment, regardless of the posture in which it lands. This design saves the energy required to restore uprightness compared to previous solutions that require additional active devices. It is structurally simpler and more reliable. The complete mechanism design scheme and the corresponding structural parameters optimization calculation method are given in this paper. The validity of the design method is verified by the prototype experiments.