着陆巡视一体化新型探测器复杂机构创新设计研究

To explore the moon, Mars and other extraterrestrial planets has become a major strategic development of deep space exploration in China. New legged movable landers/legged landing rovers are among the development trends. In the succession of the successful experience of lander's development of "Chang'e project", an idea of legged movable lander/legged landing rover is creatively put forward by the team composed of members from parallel mechanism research team at Shanghai Jiao Tong University, the Chang'e No. 3 lander's development team at The Overall Design Institute of Beijing Spacecraft and mobile robot research team at Beijing Jiao Tong University that merges the motion-related functions of the soft lander and rover. Far away from the normal machine and mechanism design, the mechanical system of the legged landing rover has two sets of various configurations and dimensions corresponding to before and after soft landing respectively thanks to introducing of crushing cushion section. Hereafter, this proposal focuses on the multi-task mechanism type synthesis, multi-state dimensional synthesis, and actuation scheme design for no-controlled walking that lead to the invention of legged landing rover mechanisms to integrate the functions of folding and unfolding, landing and cushion, walking and moving, terrain adaptation, as well as attitude adjustment. The proposed legged soft landing rover scheme not only has the abilities of landing buffer, attitude adjustment and shift investigation, but also has the potential to act as a launching support of flexible adjustment of emission location and launch attitude for future sample return tasks and a basic tool for manned exploration and construction of extraterrestrial exploration bases. The research has great theoretical significance and long-term application value that is expected to promote the development of special robotics of China's deep space exploration.

对月球、火星等地外星体进行探测是我国深空探测发展重大战略，可移动式着陆探测器是未来发展方向。在“嫦娥三号”成功经验基础上，由上海交大、北京空间飞行器总体设计部、北京交大三方密切合作，创造性提出将着陆器和巡视器的两器功能融合、开发新型腿式机构/腿式悬挂可移动式着陆探测器的设想。与常规机器和机构设计不同，因存在压溃式缓冲环节，着陆巡视器机械与机构系统存在着陆前后两种不同的构型和尺度参数状态。为此，针对性开展着陆巡视一体化复杂机构的多任务构型设计、多态尺度设计以及主辅驱动分离设计研究，创新设计出着陆巡视一体化新型探测器机构方案，将折叠展开、着陆缓冲、行走移位、地形适应、姿态调整等功能在机械结构上融为一体。该新型着陆探测器将不仅具备缓冲着陆、姿态调整和移位勘察能力，可用作取样返回器能灵活调整发射地点和发射姿态的发射支架，并能为未来的载人探测和外星基地建设提供支撑，具有重大的理论意义和长远应用价值。

通过着陆对地外天体表面实现零距离探测是人类开展深空探测的核心手段，可移动式着陆探测器是未来发展方向。本项目创造性提出了一种将着陆器功能从缓冲着陆拓展至姿态调整和行走移位等多功能的新型腿式可移动着陆器创新方案，按照资助项目计划书完成了全部研究任务：1）提出引入机构学要素开发新型可移动式着陆巡视一体化探测器的设想，让新型着陆探测器能兼具缓冲着陆和行走移位的能力；2）提出面向多功能和性能要求的复杂机构构型的特征衍生与溯源机制以及双态机构尺度域设计方法，解决了新型探测器着陆巡视一体化复杂机构的构型和尺度创新设计问题；3）提出兼顾行走移位可靠性和复杂地形适应性要求的可重构多模式驱动传动设计方法，解决了着陆巡视一体化复杂机构的高可靠驱动传动设计问题，从而创新设计出着陆巡视一体化新型探测器机构系列方案，将折叠展开、着陆缓冲、行走移位、地形适应、姿态调整等功能在机械结构上融为一体，突破了目前固定桁架式着陆器存在的不足，通过机构学要素和理论方法的引入赋予腿式着陆器新的功能和性能，使得未来的着陆器能够满足探测任务的多元化需求。.通过本项目研究，将使得着陆器在未来能够具备新的能力：1）在最后的缓冲着陆段的自适应调姿补偿能力，以提升对地外天体复杂着陆区地形的平稳着陆能力；2）着陆后的机体姿态调向能力，以承担取样返回等需要的可调姿发射支架功能；3）正常服役后的行走移位能力，以拓展着陆探测器的一次落地任务的探测范围；以及 4）综合的多功能要求，以满足人类在未来建设地外天体基地、探测地外天体表面更复杂更大范围地域的长远需要。对于新型腿式可移动着陆器来说，着陆悬停时依靠自身位姿调整能力主动顺应复杂落点地形状态，着陆时利用机构奇异位形和缓冲结构吸收瞬时冲击能量和保护机体不发生损坏，再通过姿态调整和构态切换从着陆器整体的着陆桁架形态转入行走移位的机器人机构形态。通过不同功能和性能的组合，可以形成新型着陆巡视一体化腿式探测器的系列构型，大幅提升未来着陆器对外星球表面复杂地表的适应能力，为我国未来不同类型的深空探测着陆装备研制任务的开展提供技术支撑，为后续月面重型装备软着陆与转运公用平台及地外天体表面大型移动探测实验室研制提供了理论及技术保障，有效支撑我国月球科研站建设等重大空间工程论证和研制的顺利推进，将标志我国深空探测高端技术装备原始创新能力的跃升。