缓冲/行走一体化着陆器运动学研究与步态规划

针对未来深空探测领域载人登陆、星表物资转运和基地建设等任务需求，提出了一种缓冲/行走一体化六足着陆器，并进行了步态规划和仿真校验。首先介绍了着陆器构型和驱动/吸能集成式缓冲器功能实现；其次，建立了UP+2UPS三自由度悬臂式腿足机构运动学模型，推导了以UP为主运动链的逆运动学，以及由UP主链旋转运动向2UPS支链伸缩运动的映射，并分析了其工作空间；第三，设计了行走与转弯步态，推导了足端迈步轨迹与各主动驱动关节伸缩轨迹之间的对应关系；最后，建立了该着陆器的虚拟样机模型，校验了腿足机构运动平稳性和着陆器步态行走稳定性。结果表明：所提出的着陆器腿足机构运动平稳，行走过程中本体无较大起伏和偏移、步态稳定裕度高，可为未来开展非确知复杂星表环境下的稳定着陆、移动探测、物资运输、基地建设等任务提供一种可行的装备方案。

Kinematics Research and Gait Planning of Buffering/WalkingIntegrated Lander

To meet the needs of future missions such as manned landing, material transfer and base building in the field of deep space exploration, a buffering/walking integrated hexapod lander is proposed, and its gait planning and simulation is completed. Firstly, the mechanism of lander and the functions of energy absorbing/driving integrated buffer are introduced. Secondly, a kinematics model of the UP+2UPS with 3 DOF cantilever leg foot mechanism is established. The inverse kinematics of the UP based kinematic chain is derived. The mapping from the rotation motion of the UP based chain to the telescopic motion of the 2UPS branch chain is derived, and the lander’s workspace is analyzed. Thirdly, the walking and turning gaits are designed, and the relationship between the walking trajectory of the leg end and the telescopic trajectory of the joint driving is derived. Finally, a virtual prototype model of the lander is established to verify the motion stability of the leg foot mechanism and the walking stability of the lander gait. The results indicate that the proposed lander leg foot mechanism moves smoothly, and the lander walks with small undulations, small excursions and high stability margin. It provides a viable equipment solution to tasks such as stable landing, mobile detection, material transfer and base building in a complex star catalog environment in the future.