Lunar surface extravehicular auxiliary operation robot and control method thereof

Abstract

The invention provides a lunar surface extravehicular auxiliary operation robot and a control method thereof. The lunar surface extravehicular auxiliary operation robot is of a bilateral symmetry structure and comprises a force bearing machine body, a motion system, a visual perception system, an operation system, a power supply system and a control system, the motion system comprises an asynchronous self-stabilizing suspension system and a lunar surface wheel system, the visual perception system comprises a binocular stereoscopic vision camera, a camera light shield, a two-degree-of-freedom active servo tripod head, a tripod head dust cover and a hollow camera mast, and the operation system is provided with a light three-degree-of-freedom mechanical arm based on a joint module. The lunar surface astronaut extravehicular auxiliary robot, provided by the invention, has the advantages of being compact in size and structure, light in weight, rich in single-machine task capacity and high in multi-machine system expansibility, has the high-stability and high-efficiency walking capability, the active stereoscopic vision perception capability and the multi-degree-of-freedom operation capability under the natural terrain of the lunar surface, and can carry out the lunar surface extravehicular auxiliary operation in a teleoperation or on-site man-machine interaction mode.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and in particular relates to a lunar surface extravehicular auxiliary operation robot and a control method thereof. Background technique [0002] In manned lunar exploration activities, the use of lunar robots to follow and supplementary detection, assistance and auxiliary operations for astronauts can ensure the safety of astronauts outside the cabin, improve the efficiency of lunar surface exploration and construction tasks, and give full play to the precious extravehicular activity time. benefit. [0003] The existing lunar robots are mainly lunar rovers. The system design and control mode design of the lunar rovers are mainly aimed at unmanned lunar exploration and sampling return, lack of consideration of human-machine cooperation constraints, insufficient human-computer interaction capabilities of the system, and robot volume and quality. Huge size is not conducive to human-machine coll...

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Problems solved by technology

[0003] The existing lunar robots are mainly lunar rovers. The system design and control mode design of the lunar rovers are mainly aimed at unmanned lunar exploration and sampling return, lack of consideration of human-machine cooperation constraints, insufficient human-computer interaction capabilities of the system, and robot volume and quality. Large size is not conducive to human-machine collaboration, high cost of space transfer, and insufficient system expansion capabilities

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