可移动月球着陆器系统设计与实验验证

System Design and Experimental Verification of Mobile Lunar Lander

针对无法主动调姿和灵活漫游的传统星表着陆器不适用于未来大范围星表探测和星表基地建设等任务的问题,提出了一种可移动月球着陆器。首先,介绍了可移动月球着陆器的系统组成以及各子系统的组成;其次,介绍了可变构型式本体和缓冲/驱动集成式缓冲器的功能及实现;然后,建立了缓冲/行走一体化腿足机构的运动学模型,设计了减少调姿次数的直线行走和转弯等步态,规划了足端迈步与整器调姿等工况下的腿足机构各关节运动轨迹,并通过建立整器虚拟样机模型完成了步态仿真;最后,研制了行走试验样机并搭建了试验辅助设施,完成了行走步态试验。结果表明:所提出的可移动着陆器系统设计合理,步态规划有效,各主动驱动关节的运动轨迹平滑柔顺,移动过程中着陆器本体无较大起伏和偏移,行走速度可达0.01 m/s,转弯速度可达0.6°/s。

A mobile lunar lander was proposed to address the problem that the conventional surface lander, which cannot actively adjust attitude and flexibly roam, is not suitable for future missions such as large-scale surface exploration and surface base construction. Firstly, the system composition of the mobile lunar lander and the composition of each subsystem were introduced.Secondly, the functions and implementation of the variable configuration body and the buffering/driving integrated buffer were introduced. Thirdly, a kinematic model of the buffering/walking integrated leg-foot mechanism was established, the walking gait and turning gait with fewer posture adjustment times were designed, and the trajectories of the joints of the leg-foot mechanism under the conditions of foot-end stepping and whole-unit posture adjustment were planned. The gait simulation was completed by building a virtual prototype model of the whole machine. Finally, a walking test prototype was developed and a test auxiliary facility was built,and the walking gait experiment was completed. The results show that the proposed mobile lander gait design is reasonable, the motion trajectory of the active drive joints is smooth and supple, the lander body has no large undulation and deflection during the movement, the walking speed can reach 0.01m/s, and the turning speed can reach 0.6°/s.