腿式移动着陆器的运动学建模和运动规划

Kinematic Modeling and Motion Planning of Legged Mobile Lander

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。

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.