Research On Design Method Of Wheeled Jumping Robot For Lunar Environment

The moon is the closest celestial body to the earth,and it is the starting point for humans to explore deep space.The continuous accumulation and development of unmanned lunar exploration technology will help mankind understand the evolution process of the solar system.Lunar robots are not only an ideal tool for unmanned exploration of the moon,but also an important carrier for achieving human-machine integration in future lunar residency activities.At present,the lunar surface detection robots that have successfully served in orbit are mainly wheeled,which have the advantages of simple motion control and faster speed,but their ability to overcome obstacles is insufficient to complete science in areas with high scientific research value such as moon pits and moon rock piles.Detection mission.Aiming at the problem of insufficient obstacle crossing ability of wheeled robots,this paper combines the characteristics of jumping robots,proposes a lunar wheeled jumping robot design method that combines wheeled motion and jumping motion,and develops the configuration design and configuration of wheeled jumping robots.Optimization,motion characteristics analysis,dynamic analysis and attitude control methods,etc.,formed a wheeled jump robot design theory adapted to the lunar surface environment,and provided reference for the implementation of future lunar surface exploration activities.The main contents of the research work in this paper are as follows:(1)Combining the environmental characteristics of the lunar surface with high vacuum and low gravity,using the principles of bionics and mechanical design,the configuration layout scheme and structure design method of the wheeled jumping robot based on elastic potential energy are proposed,and the composite motion scheme of robot movement and jumping is analyzed;Landing impact affects the safety of the jumping robot.A spring-piston rod-type hub design method is proposed,and the detailed design and optimization of the configuration of the jumping mechanism and moving mechanism of the wheeled jumping robot system are completed.The analysis results meet the motion requirements of the wheeled jumping robot.(2)Combined with the kinematics theory,the wheeled motion and jump motion models of the bouncing robot are established,and the interaction relationship among the jumping angle,the jumping height,and the jumping distance is analyzed.With the goal of reducing energy consumption,the basis for the selection of the jumping movement mode of the jumping robot is analyzed,and the law that affects the jumping height of the robot and the energy loss during the jumping movement is revealed.Based on the ADAMS platform,the bouncing kinematics and dynamics of the wheeled jumping robot are completed The simulation results obtained displacement,speed and component force data,which verified the feasibility of motion planning,and provided ideas for the motion control strategy of wheeled jump robots.(3)According to the principle of angular momentum,a dynamic model of robot air attitude adjustment is established.PID parameters are selected based on fuzzy control theory,and a dual-channel PID feedback control system is jointly built using ADAMS and SIMULINK platform to realize the air attitude adjustment of the robot and verify the feedback control effect.Two typical working conditions of crossing a trapezoidal obstacle and landing on a slope after jumping are studied.The goal is to fully reduce the impact of the robot’s four-wheel landing at the same time.The effect of the take-off angle and the slope angle on the wheel rotation angle,angular velocity and torque in the robot attitude control Influence and improve the motion control method of wheeled bouncing robot.In summary,this article has carried out the research on the design method of wheeled jumping robot,constructed the mechanical system design method,studied the wheeled movement and the characteristics of the jumping movement,determined the basis for the selection of the movement mode and the range of the take-off angle,and built the control system of air attitude adjustment.Analyzed two typical working conditions of overcoming trapezoidal obstacles and landing on slopes.Through the research of this article,the research of robot design method suitable for lunar surface environment is expanded,which has reference significance for the follow-up design and development of lunar surface exploration robot.