Research On Motion Planning And Simulation Of Lunar Surface Sampling Robot

At present,the efficiency of the lunar surface sampling method is low,and the samples collected are relatively simple.Therefore,it is of great significance to use a lunar surface sampling robot to conduct the sampling task scientifically.This paper takes the lunar surface sampling robot developed by Shenyang Institute of Automation,Chinese Academy of Sciences as the research object.Aiming at the lunar surface sampling task,the motion planning of the robot body and sampling mechanism is carried out,which improves the sampling efficiency and ensures the safety of the robot’s motion;A robot motion simulation platform is built to visually simulate and verify the motion planning results,which solves the problem of robot experiment difficulties.The work of this paper is carried out from the following aspects.(1)Kinematics modeling of the lunar surface sampling robot is carried out.The coordinate system of the sampling mechanism is established by using the D-H parameter method,and kinematics analysis of the sampling mechanism is carried out;The body is abstracted as a two wheel robot model,and kinematics analysis and dead reckoning are carried out for the body;Finally,the coordinate system conversion relationship between the sampling mechanism and body is established.(2)The motion planning of the lunar surface sampling robot body is studied.A multi sampling point sampling path planning algorithm based on A * algorithm and genetic algorithm is proposed.The body trajectory planning method based on dynamic window method is improved to plan the motion of the body when it reaches the sampling point and adjusts its position and attitude.(3)The motion planning of the lunar surface sampling robot sampling mechanism is studied.The sampling path is planned according to the sampling motion description and the analysis of the workspace of the sampling mechanism.The joint space trajectory of the robot sampling mechanism is planned through the B-spline curve,and the robot’s trajectory is optimized through the tuna swarm algorithm to optimize the joint motion time and jerk.(4)The motion simulation platform of the lunar surface sampling robot is built with Unity3 D software to visually simulate the lunar surface sampling motion of the robot and verify the correctness of the motion planning results.