一种适应月面极端地形六支链轮足机器人设计与步态验证  

Design and gait verification of wheel-legged hexapod robot for lunar extreme terrain exploration

作　　者：崔宇新 韩亮亮 谷程鹏 徐坤[2] 丁希仑[2] 张玉花 张崇峰[4] CUI Yuxin;HAN Liangliang;GU Chenpeng;XU Kun;DING Xilun;ZHANG Yuhua;ZHANG Chongfeng(School of Electronic Information Engineering,Beihang University,Beijing 100083,China;School of Mechanical Engineering and Automation,Beihang University,Beijing 100083,China;Aerospace System Engineering Shanghai,Shanghai 210019,China;Shanghai Academy of Spacecraft Technology,Shanghai 210019,China)

机构地区：[1]北京航空航天大学电子信息工程学院,北京100083 [2]北京航空航天大学机械工程及自动化学院,北京100083 [3]上海宇航系统工程研究所,上海210019 [4]上海航天技术研究院,上海210019

出　　处：《华中科技大学学报（自然科学版）》2024年第8期21-28,共8页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：民用航天技术预先研究项目(D030103)。

摘　　要：针对未来月球探测大范围移动、复杂地形进入任务需求,设计了一种六支链轮足复合机器人,可满足可折展、高冗余度、高安全性的月面使用要求;设计了机器人足式、腿式、轮足结合通过极端地形条件的特殊步态,在仿真环境及地面模拟地形条件下对机器人构型及步态设计开展了验证,仿真及试验结果表明,六支链轮足复合机器人对崎岖地形、大障碍地形等复杂地形有较强的适应能力.多种移动模式、灵活步态为未来机器人在月面的多样化应用提供了更大的可能性,可为后续无人及载人月球探测提供方案参考.In response to the requirements of large-scale mobility and complex terrain entry tasks for future lunar exploration,a sixbranched wheel-legged robot was designed,which can meet the requirements of foldability,high redundancy,and high safety for lunar exploration.The robot foot gait,wheel gait,and special gait combining wheel and foot to pass through extreme terrain conditions were designed.The robot configuration and gait design were verified in a simulation environment and on a simulated terrain on the ground.The simulation and experimental results show that the wheel-legged hexapod robot has strong adaptability to complex terrains such as rugged terrain and large obstacles.Multiple mobility modes and flexible gaits provide greater possibilities for the diversified application of robots on lunar surface in the future.This article can provide a reference for the follow-up unmanned and manned lunar exploration.

关 键 词：月球探测 极端地形 六支链机器人 轮足复合 构型设计 步态规划 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]