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

A control method and robot technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems that the robot's mobile mechanism is not strong enough to pass through road obstacles, etc., so as to facilitate parallel processing and facilitate failure Detection and exclusion, the effect of expanding the scope of the survey

Pending Publication Date: 2020-11-20
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
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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

Method used

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

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Embodiment Construction

[0096] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0097] Aiming at the problems existing in the prior art, the present invention provides a Mars surface low-altitude throwing robot and its control method. The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0098] Considering the mass limitation of the launch vehicle, it is proposed to use a heavy tetrahedron detection robot (such as figure 1 shown) scheme.

[0099] The tetrahedron structure is a redundant or even super-redundant variable geometry truss structure with high overall rigidity, which is easy to improve the drop resistance and load-c...

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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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G1/16G05B13/04
CPCB64G1/16G05B13/042
Inventor 陈金宝陈传志汪捷王东辉崔继云江安澜霍伟航宋志成董家宇吴迪
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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