可移动着陆器腿足最优时间-急动度轨迹规划  

Optimal Time⁃Jerk Trajectory Planning for Buffering/Walking Integrated Lander

作　　者：贾山 周向华 张胜 赵建华 陈金宝 JIA Shan;ZHOU Xianghua;ZHANG Sheng;ZHAO Jianhua;CHEN Jinbao(Academy of Astronautics,Nanjing University of Aeronautics and Astronautics Nanjing,211106,China;Key Laboratory of Deep Space Star Catalog Detection Mechanism Technology,Ministry of Industry and Information Technology Nanjing,211106,China;Laboratory of Aerospace Entry,Descent and Landing Technology Nanjing,211106,China)

机构地区：[1]南京航空航天大学航天学院,南京211106 [2]深空星表探测机构技术工信部重点实验室,南京211106 [3]航天进入减速与着陆技术实验室,南京211106

出　　处：《振动．测试与诊断》2021年第3期429-438,616,617,共12页Journal of Vibration,Measurement & Diagnosis

基　　金：“十三五”民用航天预研资助项目(D030103);国家自然科学基金资助项目(52075242)。

摘　　要：为保证可移动着陆器在运动过程中腿足机构不产生较大的冲击和振动,对可移动着陆器腿足机构各关节空间内的运动轨迹进行了规划,并以时间-急动度最优为目标进行优化。首先,介绍了兼具着陆缓冲和星表移动等功能的六足可移动着陆器的设计方案,推导了腿足运动学,分析了落震缓冲性能;其次,通过运动学逆解求得足端迈步轨迹关键点在关节空间内的映射节点,对节点进行三次样条曲线拟合;然后,以节点时间间隔为变量,建立了最优时间-急动度轨迹优化模型;最后,通过多种群遗传算法对该模型全局最优解进行搜索求解。结果表明,可移动着陆器腿足机构具有稳定连续的运动性能,所规划的最优时间-急动度轨迹合理有效,腿足机构运动过程中无较大冲击和振动。In order to ensure that the leg-foot mechanism of the buffering/walking lander does not produce larger impact and vibration in the process of movement,a trajectory planning in joint space of the leg-foot mechanism is carried out.The optimal trajectory is obtained by taking time-jerk as the optimization objective.Firstly,the leg-foot mechanism of hexapod lander with the buffering and driving functions is introduced.Its kinematics is deduced and its buffering performance is analyzed.Secondly,the mapping nodes of the key points of the foot-end trajectory in the joint space are obtained with inverse kinematics,and the nodes are fitted with cubic splines.Thirdly,the optimal time-jerk trajectory planning model is established with the node time interval as a variable.Finally,the model is solved by using multi-population genetic algorithms.The results show that the leg-foot mechanism has stable and continuous movement performance,and the planned optimal time-jerk trajectory is reasonable and effective,and there is no larger impact and vibration during the movement of leg-foot mechanism.

关 键 词：可移动六足着陆器 最优时间‐急动度 轨迹规划 多种群遗传算法 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计] TH6[机械工程—机械制造及自动化]