适用于月面极端地形的爬-滚机器人设计及爬行滚动特性分析  

Design and Analysis of the Crawling and Rolling Characteristics of the Crawling and Rolling Robot for the Lunar Extreme Terrain

作　　者：张元勋[1,2] 黄泽东 韩亮亮 谷程鹏 张文奇 ZHANG Yuanxun;HUANG Zedong;HAN Liangliang;GU Chengpeng;ZHANG Wenqi(College of Aerospace Engineering,Chongqing University,Chongqing 400044;Center of Space Exploration of Ministry of Education,Chongqing University,Chongqing 400044;College of Mechanical Engineering,Chongqing University,Chongqing 400044;Aerospace System Engineering Shanghai,Shanghai 201108;Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co.Ltd.,Shanghai 201109)

机构地区：[1]重庆大学航空航天学院,重庆400044 [2]重庆大学教育部深空探测联合研究中心,重庆400044 [3]重庆大学机械工程学院,重庆400044 [4]上海宇航系统工程研究所,上海201108 [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201109

出　　处：《机械工程学报》2021年第3期35-48,共14页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51705045);民用航天技术预告研究(D030103);载人航天预告研究(030601)资助项目。

摘　　要：面向月面极端环境科学探测任务,提出一种兼有快速通过性和良好环境适应性的爬行滚动一体化机器人设计方案,通过机器人6条腿的形态变化,使机器人具有爬行和滚动两种运动模式。在对爬-滚机器人构型分析的基础上,建立了单腿正逆运动学模型,以运动学为基础,基于足端轨迹规划设计了爬行模式下机器人直行、原地转向步态;结合非结构地形的特殊性,通过尺寸和力约束条件分析了机器人滚动模式下的最大爬坡角和最大越障高度。基于ADAMS软件对机器人爬行模式直行、原地转向,滚动模式爬坡、越障等运动行为进行了模拟,并搭建了机器人移动试验平台,对机器人样机在实验室环境中进行了测试,仿真和试验结果表明机器人在爬行模式下具有良好的移动性能,在滚动模式下具有一定的爬坡和越障能力,爬行、滚动模式运动特性分析能准确地评价机器人性能,证明了该设计方案的适用性和可行性,为后续特种探测机器人的研究提供借鉴。For the scientific exploration task of lunar extreme environment, a scheme of the crawling and rolling integrated robot with fast passing and good environmental adaptability is proposed. Through the shape change of six legs of the robot, the robot has two motion modes of crawling and rolling. Based on the analysis of the configuration of the climbing roll robot, the forward and inverse kinematics model of the single leg is established. Based on the kinematics and the foot end trajectory planning, the straight and in-situ turning gait of the robot in the crawling mode is designed. Combined with the particularity of the complex terrain, the maximum climbing angle and the maximum obstacle crossing height of the robot in the rolling mode are analyzed by size and force constraints. Based on the ADAMS software, the movement behaviors of robot, such as straight gait and turning gait in the crawling mode, climbing and obstacle crossing in the rolling mode, are simulated, and the robot prototype test platform in the laboratory environment is built. The simulation and test results show that the robot has good mobile performance in the crawling mode, and has certain climbing performance and obstacle surmounting ability in the rolling mode, crawling and rolling mode motion characteristics analysis can accurately evaluate the performance of the robot, which proves the applicability and feasibility of the design scheme, and provides reference for the follow-up research of special detection robot.

关 键 词：月面 机器人 构型设计 异型轮 运动特性 

分 类 号：TG156[金属学及工艺—热处理]