On Mechanism Design And Gait Planning Of Wheel-legged Alien Exploration Robot

At present, exploring the moon, Mars and other extraterrestrial body has become the hot spot, robot also plays an increasingly important role in exploration activities. Nowadays, researchers all over the world usually adopte the six-wheel rocker bogie structure of the mobile robot system to design alian exploration robot. Based on project supportted by eighth Research Institute of China Aerospace Group, we propose a new structure of wheel-legged mobile robot system used as space exploration robot.Considering the basic technical requirements and targets of the mobile robot system, we propose a new solution of wheel-legged mobile robot that using the five bar mechanism as the core, by combining the wheels and legs, the robot gait types are enriched, which has the advantages of wheeled and legged motion, a good adaptability to the terrain, the energy consumption characteristics and stability.The kinematics model of the wheel-legged alien exploration robot is created, the relationship between the joint angle and the coordinates of the feet is established. The joint torques of the system is culcalated by doing dynamic analysis of the system using the way of Lagrangian.Analysis of single leg work space, cross ditch capacity, over obstacle ability, folding performance and energy consumption is finished, the relationship between cross ditch capacity, over obstacle ability, the folding performance and robot basic size is established, the evaluation index system of performance is formed.Considering the terrain adaptability and requirements of energy consumption, starting from the relationship between the state of every leg and the gait types, the method that use a matrix to describe the robot gait, and describe the process of robot walking is established, this method makes the process of walking matrixed, the dynamic generation of robot gait is achieved by using matrix recursive algorithm.On the basis of gait planning, simulation study of the robot used in the basic gait patterns or several typical conditions is conducted, the robot kinematics and dynamics performance in different gait is achieved, we also verify the robot slope climbing ability, cross ditch capacity, over obstacle ability, the unfolding capacity and energy consumption characteristics. in order to further study the foundation of Mars exploration robot. This lay the foundation for the further study of Mars exploration robot.