Mars star catalogue low-altitude throwing robot and control method thereof

Abstract

The invention belongs to the technical field of robot control, and discloses a Mars star catalogue low-altitude throwing robot and a control method thereof. The Mars star catalogue low-altitude throwing robot is composed of an extension topological robot and a buffer coating layer; and the buffer coating layer is composed of four circular aluminum honeycomb sandwich buffer pads and six explosive bolts so as to realize soft landing of the extension topological robot and detonate a bolt to unlock after landing. The extension topological robot is a closed-chain movable connecting rod mechanism based on a variable geometry truss. The closed-chain movable connecting rod mechanism is composed of six telescopic connecting rods, four nodes and an electric control system. A decentralized control strategy has expandability, more connecting rods and nodes are added according to future needs to form a more complex structure, only gait planning needs to be carried out again, and the whole control system does not need to be rewritten. The robot is high in adaptability to complex terrains and has the capabilities of crossing gullies, climbing rocks and crossing obstacles; movement is flexible, and a certain deformation capacity is achieved; and the robot can go deep into caves, slits and other severe environments for detection.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a low-altitude throwing robot and a control method thereof. Background technique [0002] In the terrestrial environment of space exploration, there are places that conventional mobile platforms cannot reach, such as large-scale ravines and narrow caves on the surface of planets, and these places have potential scientific research value. Therefore, scientific exploration and research on these environments has become a requirement for the development of science and technology and the progress of human society. [0003] In the process of continuous exploration and research on Mars, a preliminary understanding of the geological conditions of Mars has been obtained. If we want to continue to understand the geological activities of Mars, we need to explore areas with frequent volcanic activities. However, the geographical environment created by volcanic activity is ...

AI Technical Summary

Problems solved by technology

[0016] To sum up, the problems existing in the existing technology are: the passing performance of the existing robot moving mechanisms is not strong enough to overcome general obstacles, but it is difficult to pass extremely complex and harsh road obstacles

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