Design And And Kinematics Analysis Of Modular Reconfigurable Six Branched Wheel-Legged Robot

The original driving force of human deep space exploration is composed of a thorough study of the geological characteristics of celestial bodies and their space environment,an exploration of the formation and evolution history of planetary systems,and a search for solutions to the most basic problems of the origin of the solar system and the origin of life.The planetary robots are ideal tools to replace Human beings to conduct extraterrestrial patrol inspections.Throughout the development of the planetary motion detection tool,the original star motion detection tool is mainly a wheeled rover.However,with the advancement of China's deep space exploration program,the lunar robot will become an important tool of lunar exploration mobile system.So researching a kind of adaptable lunar robot with high maneuverability is of great significance for lunar motion detection mission.This paper proposes a design idea of a modular six branched wheel-legged lunar robot which combines the advantages of wheeled robots,legged robots and modular robots.For the related research of modular six branched wheel-legged lunar robot,the following research work is carried out.1 Through the analysis of the research status of domestic lunar robots,wheel-legged robots and modular robots,a modular reconfigurable six branched wheel-legged lunar robot is proposed.Using Pro/E as a design modeling tool,a three-dimensional model of a modular six branched wheel-legged lunar robot isestablished.According to the modular design idea,the six branched wheel-legged lunar robot is modularized to obtain various functional modules of the modular six branched wheel-legged lunar robot.Innovatively designing a non-sexual docking mechanism that enables electromechanical connections makes the modular six branched wheel-legged robot reconfigurable.2 Based on the theory and method of graph theory,in the aspect of modular six branched wheel-legged lunar robot configuration,the configuration analysis of the modular six branched wheel-legged lunar robot is proposed.The model is analyzed to obtain the configuration matrix corresponding to the robots of different configurations.Further,by using this method,to establise a standardized module configuration library and combining the corresponding configuration matrix,the types,the number,and the connection relationship of each module of the modular robot can be quickly obtained,and the required robot can be quickly and easily constructed.3 Parametric modeling and analysis of the modular reconfigurable wheel-legged lunar robot is carried out.Through the parameterization function of ADAMS,the parameterization of six sprocket-legged lunar robots is carried out with slope as a typical working condition.According to the specific working conditions,the parameterized analysis object and optimization target are proposed.The ADAMS parameterization is used to obtain the optimal solution within the design range,which provides a theoretical basis for the scale selection of modular robots.4 According to the theory of robot kinematics,the kinematics analysis and gait simulation of the modular reconfigurable six branched wheel-legged lunar robot are analyzed.Taking a set kinematics attitude as the simulation object,the inverse kinematics solution of the robot is obtained by Matlab,and the obtained solution is substituted into the ADAMS simulation to verify the correctness of the robot coordinate system establishment and the kinematic equation solution.Based on the kinematics analysis,the wheel-legged robot with regular hexagonal configuration is taken as the research object,and its wheel and foot turning motion characteristics are analyzed.The experimental simulation in ADAMS is carried out to verify the wheel turning and foot turning theory.In the straight-line walking gait,the linear six-branched and the regular hexagonal six-branched configuration are typical configurations,and the six-segment-legged lunar robots of the two configurations are respectively.The linear gait is analyzed and simulated to obtain the corresponding gait characteristics.By comparing and analyzing the correspondence between configuration and gait characteristics,combining with the specific working environment,it can provide reference for the configuration selection of six sprocket-legged lunar robots.Through the research of this paper,the design method of lunar robot is extended,and the kinematics of the modular six-segment wheel-type lunar robot wheel turn,foot turn and foot linear motion are analyzed in depth.Two typical models are completed.The study of the linear gait planning strategy of the constructed robots clarifies the motion behavior of the robot under plane and slope conditions.The results obtained can provide a reference for the design of lunar robots.