Mechanism Design And Motion Planning Of A Wheel-legged Repetitive Landing Inspection Robot

Multi-purpose,intelligent,high survivability and large-scale detection are important trends for the development of extraterrestrial surface patrols in the future.Traditional wheeled robots are difficult to adapt to future planet surface detection and development needs.In this paper,a large-scale detection tour of the alien surface is regarded as the background.A wheel-foot composite large-scale patrol robot with repeating landing buffer function is designed.The mechanism design,kinematics,performance evaluation,dynamics,landing buffer,and wheel-foot drive of the robot Ability to carry out analysis and simulation verification.In this paper,the mechanism design,performance evaluation,landing buffer and wheel foot compound motion planning of the wheel leg reusable landing inspection integrated robot are studied to meet the needs of repeated landing and large-scale detection of the extraterrestrial surface inspector.The invention provides a series parallel hybrid leg foot mechanism with four degrees of freedom and repeated landing buffer,which has the characteristics of large working space,strong bearing capacity,repeated buffer,etc.,and can be used for the design of a large-scale inspection robot of "leap wheel foot" on the surface of extraterrestrial.The single leg dynamic model and the rigid flexible coupling dynamic simulation model of the repeated landing buffer mechanism are established,and the influence rules of landing parameters such as touchdown speed,pitch angle and surface inclination angle on the impact force,stroke and sideslip of the buffer mechanism are obtained,which provides the theoretical basis for the repeated landing buffer planning.In this paper,the motion / dynamics model of the whole wheel leg inspection robot is established,and the quintic polynomial method is put forward to optimize the gait path,which can greatly reduce the driving torque when climbing and climbing obstacles,and provide theoretical basis for the wheel leg composite motion planning of inspection robot.