摘要
外星探测器依赖于探测装备完成探测任务,国际上常采用着陆器和巡视器设计外星探测器。外星探测器质量直接影响着探测成本,如果能把着陆器和巡视器融为一体,设计出可在月面反复着陆和行走的飞跃器,则能显著减小外星探测器的质量,大幅减少外星探测的成本。由于人类还没有实现利用腿式机器人探测月球,腿式月球探测飞跃器的开发可体现我国航天领域自主创新能力。依托北京空间飞行器总体设计部(航天五院总体部)与上海交通大学的合作项目“反复着陆器设计”,开展了月面低空飞跃着陆行走四足和六足飞跃探测器初探。飞跃探测器方案采用并联式主动腿式机构,具有在多种复杂地形上主动缓冲着陆和行走的适应能力;设计并采用了一种新型高功率密度力控驱动单元;进行了飞跃探测器的结构优化设计,实现了轻量化;针对着陆和行走过程中的控制问题,提出了主被动复合缓冲设计思路和控制方法,实现了飞跃器着陆过程的缓冲和身体稳定性,具备多次缓冲、自主移动、可收拢展开、着陆姿态调整、复杂地形适应等多种功能。
Space probes rely on detection equipment to complete the exploration task.Landers and rovers are often used to design space probes in the world.The weight of probes directly affects the detection cost.If the lander and the rover are integrated into one design called leaping robot that realizes repetitive landing and movement,which can significantly reduce the weight of probes and greatly reduce the cost of space exploration.Since humans have not yet achieved legged robots to detect the moon,the development of legged leaping robots in lunar exploration can reflect the independent innovation ability of China's aerospace field.Based on the cooperative project"design of repeated landers"by the General Department of the fifth Aerospace Academy and Shanghai Jiao Tong University,a preliminary study on the quadruped and hexapod leaping robot for lunar landing and movement is carried out.The legged leaping robot adopts a parallel active leg mechanism,which has the adaptability to actively buffer landing and walking on a variety of complex terrain.A novel high-power-density driving unit based on force controlling is designed and adopted.Through structural optimization design,the robot achieves lightweight.Aiming at the control problem of landing and walking,the design idea and control method of the active and passive hybrid buffer is proposed,which realizes the buffering and body stability in the landing.The legged leaping robot has multiple functions such as repetitive landing,autonomous movement,retraction,deployment,adjustment of landing attitude,and adaptation of complex terrain.
作者
高峰
尹科
孙乔
肖涛
杨建中姜水清
陈先宝
孙竞
刘仁强
齐臣坤
GAO Feng;YIN Ke;SUN Qiao;XIAO Tao;YANG Jianzhong;JIANG Shuiqing;CHEN Xianbao;SUN Jing;LIU Renqiang;QI Chenkun(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240;Beijing Institute of Spacecraft System Engineering,Beijing 100094)
出处
《飞控与探测》
2020年第4期1-7,I0003,共8页
Flight Control & Detection
基金
自然基金-深圳联合基金项目(U1613208):野外山林作业的移动机器人。
