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摘要:
针对缓冲行走一体式月面探测器将着陆缓冲与月面行走功能融为一体，导致设计优化困难的问题，提出一种综合考虑缓冲特性和行走特性的性能分析与优化方法。根据月面探测器着陆腿的功能需求，设计了构型为RUP-2RUPS的冗余自由度并联机构，并建立其参数化模型，该构型可通过运动副生效或失效实现缓冲和行走2种功能的构型切换。结合全因子实验方法分析月面探测器的两功能运动学特性与动力学特性，依据月面复杂着陆和行走工况，给出综合优化的目标函数和约束条件。在敏感度分析的基础上，利用随优化过程更新的全工况响应面模型与非劣排序遗传算法，完成月面探测器着陆腿构型参数的优化。所提方法在提高运算效率的同时，保证了每轮优化均能筛选出当前构型的最恶劣着陆工况，并计算其极限值。优化后，最大有效工作空间增加了8.7%，抗翻倒性能最小值提高了4.0%，抗底面触月性能最小值提高了0.2%，整体性能更优。
Abstract:Taking into account the buffering and walking characteristics, a performance analysis and landing leg configuration optimization method is proposed to address the issue of the lunar probe integrating landing buffer and lunar walking functions, which causes challenges in its design optimization. According to the functional requirements of the landing legs of the lunar probe, a redundant DOF parallel mechanism with RUP-2RUPS configuration is proposed, and its parametric model is constructed. The mechanism can realize the configuration switching of buffering and walking functions by activating and deactivating the kinematic pairs. Combined with the full factor experimental method, the kinematic and dynamic characteristics of the lunar probe with two functions are analyzed. The objective function and constraint conditions of comprehensive optimization are given based on the intricate landing and walking conditions on the lunar surface. Based on the sensitivity analysis, the configuration parameters of the landing leg of the lunar probe are optimized by using the full-condition response surface model updated with the optimization process and the non-inferior sorting genetic algorithm. This optimization method not only improves the operation efficiency, but also ensures that each round of optimization can select the limit value of the worst working condition of the current configuration. After optimization, the maximum effective working space is increased by 8.7%, the minimum anti-overturning performance is increased by 4.0%, and the minimum anti-bottom-touchdown performance is increased by 0.2%. The overall performance is better.
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Key words:
- lunar probe /
- kinematic analysis /
- dynamic analysis /
- response surface model /
- optimal design
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图 1 月面探测器单腿构型与支链参数
Figure 1. Single leg configuration and chain parameters of lunar probe
图 8 优化目标对各构型参数敏感度
Figure 8. Sensitivity of optimization objectives to each configuration parameters
图 11 优化后缓冲性能仿真分析结果
Figure 11. Simulation analysis results of buffering performance after optimization
表 1 支链构型参数
Table 1. Configuration parameters of chain
支链 $\alpha $/(°) $\beta $/(°) $r$/m $h$/ m $m$/m $l$/m 主支链 36.87 0 0.07 0.415 0.2 0.6 左支链 0 90 0.125 0.415 0.2 0.35 右支链 0 90 0.125 0.415 0.2 0.35 
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表 2 月面探测器单腿单支链改进DH参数
Table 2. Improved DH parameter of single chain of single leg
连杆k 转角${\phi _{k{{ - }}1}}$ 偏置${\alpha _{k - 1}}$ 转角${\varphi _k}$ 偏置${d_k}$ 1 0 0 $ {\beta _i} $ 0 2 0 ${r_i}$ 0 ${h_i}$ 3 $ {\text{π}} /2 $ 0 ${\alpha _i} + {\theta _{i_1}}$ 0 4 0 ${m_i}$ ${\theta _{i_2}}$ 0 5 $ - {\text{π}}/2 $ 0 ${\theta _{i_3}}$ 0 6 0 ${l_i}$-${l_{di}}$ 0 0
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表 3 工况参数取值
Table 3. Values for landing conditions parameters
（°） ${\varphi _{\text{P}}}$ ${\phi _{\text{P}}}$ ${\alpha _{\text{S}}}$ 取值范围 增量 取值范围 增量 取值范围 增量 0～90 0.5 −5～5 2.5 3～9 3
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表 4 设计变量取值范围及初始值
Table 4. Design variable range and initial value
${\alpha _1}$/（°） $m$/m ${r_{\text{S}}}$/m 取值范围 初始值 取值范围 初始值 取值范围 初始值 [25,45] 36.87 [0.125,0.225] 0.2 [0.05,0.15] 0.125
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表 5 优化前后对比
Table 5. Comparison before and after optimization
$ {\alpha _1} $/(°) $ m $/m $ {r_{\text{S}}} $/m $ {V_{\text{W}}} $/10−3 m3 $ {D_{{\text{Tmin}}}} $/mm $ {H_{{\text{Dmin}}}} $/mm 初始值 最优解 初始值 最优解 初始值 最优解 初始值 最优解 初始值 最优解 初始值 最优解 36.87 41.73 0.200 0.214 0.125 0.095 7.28 7.91 354.34 368.50 312.70 313.30
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