模块化轮腿式月面机器人方案设计  

Scheme design of Modular Wheel-legged Lunar Robot

作　　者：岳念 李聪[1,2] 韩亮亮[3,5] 张元勋 YUE Nian;LI Cong;HAN Liangliang;ZHANG Yuanxun(Center of Space Exploration of Ministry of Education,Chongqing University,Chongqing 400044,China;College of Mechanical Engineering,Chongqing University,Chongqing 400044,China;Institute of Aerospace System Engineering Shanghai,Shanghai 201109,China;College of Aerospace Engineering,Chongqing University,Chongqing 400044,China;Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co.Ltd.,Shanghai 201108,China)

机构地区：[1]重庆大学教育部深空探测联合研究中心,重庆400044 [2]重庆大学机械工程学院,重庆400044 [3]上海宇航系统工程研究所,上海201109 [4]重庆大学航空航天学院,重庆400044 [5]中国航天科技集团有限公司空间结构与机构技术实验室,上海201108

出　　处：《载人航天》2019年第5期667-672,共6页Manned Spaceflight

基　　金：国家自然科学基金青年基金项目(51705045);载人航天预先研究项目(030601)

摘　　要：针对传统月面轮腿式机器人受限于结构及尺寸的问题,引入模块化设计观点,基于图论理论建立了机器人构型与模块之间的数学关系。以直线运动车身动态平稳度为评价标准,通过机器人足式运动学分析,以直线型与环形六支链轮腿式月面机器人为例,进行了机器人构型设计。仿真结果表明,直线型构型机器人在足式直线运动步态下更加平稳,可作为模块化可重构轮腿式月面机器人的设计参考。The traditional lunar wheel-legged robot is limited by the structure and size.To solve this problem,the modular design method was introduced and the mathematical relationship between the robot configuration and the module was established based on graph theory.Taking the dynamic stability of the linear motion body as the evaluation standard,the configuration of the linear and circular six-segment wheel-type lunar robots was designed as an example on the basis of the robotic foot kinematics analysis.The simulation results showed that the linear configuration robot was more stable under the foot linear motion gait,which can be used as a design reference for the modular reconfigurable wheel-legged lunar robot.

关 键 词：模块化 可重构机器人 运动学分析 轮腿式机器人 

分 类 号：V447[航空宇航科学与技术—飞行器设计]