Buffering/walking integrated hexapod lander and gait control method thereof

Abstract

The invention discloses a buffering / walking integrated hexapod lander and a gait control method thereof, belongs to the technical field of deep space star catalogue detection mechanisms, is composed of a mechanical structure, a control system and gait planning, and has two functions of stable landing and flexible roaming. The mechanical structure is composed of a hexagonal frustum type body and six buffering / driving integrated three-degree-of-freedom leg and foot mechanisms which are symmetrically distributed according to the center of a regular hexagon. The control system consists of a main control module and a special motion controller and is used for controlling the position of each driving motor in each buffering / driving integrated three-degree-of-freedom leg-foot mechanism so as to realize quasi-static walking of the lander; the gait planning adopts a stable and efficient 3-3 gait which is more matched with the hexapod configuration, and the smooth fluctuation track of the centroid of the body is realized through the motion control of each buffer / drive integrated three-degree-of-freedom leg and foot mechanism.

Description

technical field [0001] The invention belongs to the technical field of deep space star catalog detection mechanism, and is a cushioning / walking integrated hexapod lander and its gait control method, specifically a buffering / walking integrated hexapod lander and its body center of mass with low fluctuation The gait control method has two functions of star table soft landing and omnidirectional movement. Background technique [0002] In recent years, deep space exploration has become an international research hotspot and a series of achievements have been made. Representative tasks in the field of future deep space exploration include: manned landing on the moon / Mars and construction of star catalog bases. Among them, the safe landing of the star catalog and the roaming inspection of the star catalog are the most important links, which directly determine the success or failure of the mission. [0003] In terms of safe landing on planetary surfaces, at present, the traditiona...

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Problems solved by technology

For example, Beijing University of Aeronautics and Astronautics designed "a multifunctional lunar exploration robot with six-legged universal walking", which uses a relatively complex wheel-leg structure to achieve flexible lunar surface movement, but its configuration is limited and cannot install a large number of scientific loads , and does not have a compliant buffer function; Nanjing University of Aeronautics and Astronautics designed "a mobile soft landing device on the lunar surface", which can realize soft landing and walking on the lunar surface, but does not involve gait planning and motion control methods, and four The motion control strategy of the foot configuration is relatively complicated, which is not conducive to ensuring the gait stability in the uncertain environment of the lunar surface; in addition, in the field of robotics, the existing hexapod walking configuration can be divided into series and parallel. Among them, during the movement of the parallel configuration, the length of the leg poles usually cannot be coordinated with the gait cycle, resulting in large fluctuations in the center of mass of the body in the vertical direction, which is not conducive to the realization of energy-saving dynamic characteristics, and is also not conducive to the realization of stability. Safe star movement, and the series configuration to achieve low center of mass fluctuations requires complex multi-joint coordinated control, which is relatively complicated and is not conducive to ensuring the performance reliability of the star movement mechanism. In summary, the existing star landing buffer device There are many limitations in technologies such as safe landing on star tables and flexible roaming

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