机器人足与月壤相互作用力学建模及试验验证  

Mechanical Modeling and Experimental Validation of Robot Foot-Moon Soil Interaction

作　　者：郝明阳 张慧博 杨杰[1] HAO Ming-yang;ZHANG Hui-bo;YANG Jie(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;School of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin Heilongjiang 150001,China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《计算机仿真》2024年第12期27-32,213,共7页Computer Simulation

基　　金：国家自然科学基金航天联合基金重点项目(U21B2075);中央高校基本科研业务费专项(3072022CFJ0702);天津市微低重力环境模拟技术重点实验室开放课题(WDZL-2021-02)。

摘　　要：针对探月足式跳跃机器人着陆时半球形足底应力分布规律难以测得进而导致足与月壤相互作用力描述不准问题,基于离散元-多体动力学耦合方法构建了单腿冲击月壤仿真模型,分析揭示了足底应力分布规律,提出了考虑推土效应的等效沉陷量。基于所得规律利用地面力学理论对足底应力求取积分并引入阻尼项,建立了考虑动态冲击推土效应的足月相互作用力学模型。搭建了单腿冲击模拟月壤试验系统,将不同速度下足端力试验结果与模型计算结果进行对比,验证了足月力学模型的准确性,为研究机器人着陆姿态响应与控制提供了理论基础。To address the problem of inaccurate description of the foot-moon interaction force due to the difficulty in measuring the stress distribution law of the hemispherical footbed during the landing of the lunar foot-jumping robot,a single-leg impact lunar simulation model is constructed based on the coupled discrete element-multi-body dynamics method,which analytically reveals the stress distribution law of the footbed and proposes an equivalent sinkage amount considering the pushing effect.Based on the obtained law,the ground mechanics theory is used to integrate the footing stress and introduce the damping term,and a foot-moon interaction mechanics model considering the dynamic impact pushing effect is established.A single-leg impact simulation lunar test system is built,and the results of footend force tests at different velocities are compared with the model calculation results to verify the accuracy of the footmoon mechanics model,which provides a theoretical basis for the study of robot landing attitude response and control.

关 键 词：探月足式跳跃机器人 半球形足端 足底应力分布 足月相互作用力模型 地面试验 

分 类 号：V411.8[航空宇航科学与技术—航空宇航推进理论与工程]