腿式移动着陆器的运动学建模和运动规划
作者:
作者单位:

作者简介:

通讯作者:

基金项目:

国家自然科学基金项目(51735009);机械系统与振动国家重点实验室重点项目(MSVZD202008)

伦理声明:



Kinematic Modeling and Motion Planning of Legged Mobile Lander
Author:
Ethical statement:

Affiliation:

Funding:

This work is supported by National Natural Science Foundation of China (51735009), State Key Laboratory of Mechanical Systems and Vibration (MSVZD202008)

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
    摘要:

    着陆器是深空软着陆探测的核心装备,但现有着陆器不具备行走移位功能,一次发射任务探测范围有限。针对上述问题,该文研究了一种集着陆和行走移位功能于一体的腿式移动着陆器,建立腿式移动着陆器单腿的完整运动学模型,并阐述其工作模式。针对星体表面的复杂环境,提出一种周期步态和自由步态的规划方法,解决了稳定判据、落足点评价函数和足端轨迹规划等问题。此外,该文还通过仿真实验,验证了该方法的可行性和稳定性。

    Abstract:

    The legged lander is the key equipment of deep space soft landing detection whose current version does not have the mobility capability making its one launching mission’s patrol range limited. In this work, a legged mobile lander is designed and studied. The complete kinematic model is established for a single leg of the legged mobile lander firstly. Then, the working mode of the legged mobile lander is introduced. To make the lander adapt to the complex terrain on the surface of planets, both periodic and free gait planning methods are proposed. The other problems like stability criteria, terrain evaluation as foothold, and foot trajectory planning are also investigated with consideration of the characteristics of the legged mobile lander. Finally, numerical simulation experiments demonstrate the feasibility and stability of the proposed motion planning method.

    参考文献
    相似文献
    引证文献
引用本文

引文格式
李子岳,郭为忠,韩有承.腿式移动着陆器的运动学建模和运动规划 [J].集成技术,2022,11(6):23-35

Citing format
LI Ziyue, GUO Weizhong, HAN Youcheng. Kinematic Modeling and Motion Planning of Legged Mobile Lander[J]. Journal of Integration Technology,2022,11(6):23-35

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
历史
  • 收稿日期:
  • 最后修改日期:
  • 录用日期:
  • 在线发布日期: 2022-11-28
  • 出版日期: