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...

Kinematics Research and Gait Planning ofBuffering/WalkingIntegrated Lander

To meet the needs of future missions such as mannedlanding, material transfer and base building in the field of deep spaceexploration, a buffering/walking integrated hexapod lander is proposed, and itsgait planning and simulation is completed. Firstly, the mechanism of lander andthe functions of energy absorbing/driving integrated bufferare introduced. Secondly, a kinematics model of the UP+2UPS with 3 DOF cantilever leg foot mechanism isestablished. The inverse kinematics of the UP basedkinematic chain is derived. The mapping from the rotation motion of the UP based chain to the telescopic motion of the 2UPS branch chain isderived, and the lander’s workspace is analyzed.Thirdly, the walking and turning gaits are designed, and the relationshipbetween the walking trajectory of the leg end and thetelescopic trajectory of the joint driving is derived. Finally, a virtualprototype model of the lander is established to verify the motion stability ofthe leg foot mechanism and the walking stability of thelander gait. The results indicate that the proposed lander leg foot mechanism moves smoothly, and the lander walks with smallundulations, small excursions and high stability margin. It provides a viableequipment solution to tasks such as stable landing, mobile detection, materialtransfer and base building in a complex star catalog environment in the future.