轮腿臂复合的月球移动作业机器人研究  

Research on a Hexapod Robot with Wheel⁃leg⁃arm Composite

作　　者：赵羽航 韩亮亮 陈成 陈佳伟 张涛[1] 徐坤[1] 丁希仑[1] ZHAO Yuhang;HAN Liangliang;CHEN Cheng;CHEN Jiawei;ZHANG Tao;XU Kun;DING Xilun(School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China;Shanghai Aerospace System Engineering Institute,Shanghai 201108,China)

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191 [2]上海宇航系统工程研究所,上海201108

出　　处：《载人航天》2024年第5期579-590,共12页Manned Spaceflight

摘　　要：月球探测机器人不仅要具备高适应性、高移动性的移动能力,还需要实现复杂的钻取土壤等作业任务。设计了一种轮腿臂复合的月球移动作业机器人,以中心对称六足机器人为基础,采用模块化思想设计了腿、轮腿和腿臂复合分支,不仅能实现高适应性、高机动性的轮腿复合运动,还能实现复杂的双臂协同作业。引入1个具有剪叉的被动轮,保证轮行模式下机器人的稳定性。建立了机器人3种模式:足行模式、腿臂模式、轮臂模式的运动学模型,并设计了模式之间的切换运动规划。基于ROS环境,仿真验证了所提出的运动学模型和运动规划的可行性,使机器人在切换模式与夹取物体中保持运动整体的连续性。Lunar exploration robots not only require the ability to move with high adaptability and high mobility,but also the capability to carry out complex operational tasks such as drilling soil.A wheel⁃leg⁃arm composite lunar mobile operation robot was designed.Based on the hexapod robot,the leg,the wheel⁃leg and the leg⁃arm composite branch were designed with modularization idea,which could not only realize the wheel⁃leg composite movement with high adaptability and high mob⁃ility,but also realize the complex double⁃arm cooperative operation.One passive wheel with shear fork was introduced to ensure the stability of the robot in wheel traveling mode.The kinematic mod⁃els of the robot in three modes:foot traveling mode,leg⁃arm mode,and wheel⁃arm mode were es⁃tablished,and the motion planning for switching between modes was designed.Based on the ROS environment,the simulation verifies the feasibility of the proposed kinematic model and motion plan⁃ning,so that the robot maintains the overall continuity of motion in switching modes and pinching objects.

关 键 词：月球探测 轮腿臂复合 六足机器人 运动规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V476.3[自动化与计算机技术—控制科学与工程]