月球探测重载六足移动机器人基础理论及关键技术研究

The electric-drive six-legged robot, which can bear the heavy load and traverse in unknown environment of the lunar surface, is necessary device for lunar exploration. The researches of fundamental theories and key techniques on the heavy-duty six-legged robot for lunar exploration could not only enrich and develop the correlated theories of the legged robots, but also provide references for solving the cutting-edge techniques of the legged robots. Under the research of that kind of robots, prominent achievements have been gained in the USA, but correlated researches are not yet developed in China. At present, due to many problems on the research of the heavy-duty six-legged robot of lunar exploration in China, for example, the deficiency of the research of the configuration synthesis, the lacking of research on the foot-ground mechanics, the un-depth research of the control strategies, the non-perfect of the simulation research, etc., the basic and the key techniques research will be performed in this project for an electric-drive heavy-duty six-legged robot of lunar exploration. In this project, the main research contents are to execute the researches of the topology synthesis and the scale synthesis, to put forward the performance evaluation indexes and the evaluation techniques, to develop the test system of the foot-ground contact force, to derive mathematical models about the distribution of stress and the concentrated force/torque under the foot-ground contact force, to obtain the method of parameters online identification about foot-ground mechanics, to solve the stable region of footholds of robot, to study the control strategies on force/displacement mixed control and local reflection, to build the simulation platform for the heavy-duty six-legged robot, to develop the shrinkage ratio principle prototype of the heavy-duty six-legged robot. Based on the simulation platform and the shrinkage ratio principle prototype, the simulation data and the testing data can be gained. The basic and the key techniques research for the electric-drive heavy-duty six-legged robot will lay the foundation for the research of the heavy-duty multi-legged robots which can be used to carry out planetary exploration mission.

月面未知环境下具高承载能力的电驱动六足移动机器人是月球探测中不可或缺的装备。月球探测重载六足移动机器人基础理论及关键技术研究有利于丰富和发展足式移动机器人相关理论，也为足式移动机器人前沿关键技术解决提供参考依据。美国在该类机器人的研究方面已取得显著成果，而我国尚未开展深入研究。针对月球探测重载六足移动机器人构型综合研究欠缺、足地相互作用力学研究不够深入、控制方法有待深化、仿真研究不够完善等问题，本课题拟对重载六足移动机器人进行拓扑综合和尺度综合研究，提出机器人性能评价指标及方法；研发足地作用测试系统，构建基于足地相互作用力的应力分布和集中力/力矩模型，获得地面力学参数在线辨识方法；求解机器人立足点稳定区域，研究力/位混合控制和局部反射策略；搭建重载六足移动机器人仿真平台；研制重载六足移动机器人缩比原理样机；获取机器人相关仿真和试验数据，为星球探测重载多足移动机器人的研究奠定基础。

月面未知环境下具高承载能力的电驱动六足移动机器人是月球探测中不可或缺的装备。月球探测重载六足移动机器人基础理论及关键技术研究有利于丰富和发展足式移动机器人相关理论，也为足式移动机器人前沿关键技术解决提供参考依据。根据六足机器人移动系统的组成，针对重载六足移动机器人的腿布置方式进行了拓扑综合和尺度综合研究，提出了考虑机体自由度的腿布置方式分析方法，进行了步行腿的构型综合，解析了步行腿机构的能效特性机理，建立了六足机器人移动性能二级评价体系，基于一级指标对不同机体布局方式和不同步行腿构型进行了组合及优选，建立了三种构型的仿真模型，基于性能评价体系进一步对三种构型进行了综合评价和打分，确定了复杂地形大尺度六足机器人的移动系统构型方案；研发了足地作用测试系统，构建了基于足地相互作用力的应力分布和集中力/力矩模型，获得了地面力学参数在线辨识方法；通过本项目的研究，求解了六足机器人典型步态的稳定区域，提出了力/位混合控制和局部反射控制策略；基于Vortex软件搭建了六足移动机器人的仿真平台，实现了机器人在各种崎岖地形下的算法验证与改进，提供了实时高保真度的仿真验证平台；研制了重载六足移动机器人缩比原理样机，获取了机器人相关仿真和试验数据，验证了所提出方法的正确性、实用性和可行性，所得到的结论可用于指导六足机器人的移动系统设计和移动性能提升，为后续更深入地开展星球探测重载多足机器人移动系统研究奠定了基础。