Research On Walking Ability Under The Failure Of Reset Mechanism Of Walking Landing Probe

At present,the mission of lunar exploration is mainly completed by the combination of lander and patrol,and the lander can't walk and can only be detected in situ after landing.To overcome the limitations of the lander,a walking landing probe is proposed to increase the walking function on the basis of landing.Due to the impact of the complicated environment of the moon and the impact of landing,the buffer reset mechanism may fail,causing the buffer to not automatically return to its original length,affecting walking exploration.This article focuses on the walking landing probe under the reset mechanism failure state to research its walking ability:Taking the walking landing detector as the research object,the kinematics equations of walking are established,and Jacobian matrix is solved.The landing dynamic model is established.Through the ADAMS simulation,the landing process of the probe under typical landing conditions is analyzed,and the buffer stroke of each buffer is obtained.Those provide the basis for solving the workspace and walking planning.The failure type of the reset mechanism of the probe is analyzed,and the workspace of the leg under the failure of the reset mechanism is solved based on inverse kinematics.Workspace method and response surface method are proposed to analyze the terrain adaptability of the leg under the fault condition.A method for optimal length adjustment of the leg is proposed.Based on the NSGA-II,the leg foothold is selected as the design variable,and the terrain adaptability is the design goal.After adjustment,the four legs of the probe are supported,and the terrain adaptability reaches pareto optimal state.The intermittent gait and continuous gait under different gait parameters are analyzed through the gait chart.An equivalent walking model of cross-ditch and obstacle crossing is established,and the optimal gait under different terrains is analyzed.Combined with gait parameters and position,velocity and acceleration information of the interpolation point,an improved cubic spline interpolation is selected to plan the foot trajectory in the leg workspace.Based on the results of the walking planning,to obtain the actual stability margin and analyze its impact on walking stability,the deviation equation between the probe barycenter and the center of the body during walking is established.The walking simulation model of the probe is established,and the flat and rugged terrain are set.Gait parameters and foot trajectories based on terrain parameters are determined.The walking process of the probe is simulated and analyzed by ADAMS.It is found that,in the terrain of the paper,the degree of deviation from the direction of progress of the probe movement is small.The deviation between the probe barycenter and the center of the body has a limited impact on walking stability.The contact force between the foot pad and the lunar surface has a peak value at the moment of landing,and is small at other times.