Kinematic analysis and continuous gait planning of lunar-based equipment in walking state
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摘要:
针对缓冲行走功能一体的月面探测器构型设计困难、步态分析复杂等问题，提出了一种基于相同支链构型的四足月基装备(LBE)设计分析方法与连续步态规划方案。设计复合功能着陆腿机构及整机多状态位姿；构建LBE在行走状态下的单腿运动学模型，对其进行正逆运动学求解，分析单腿与整机工作空间和运动性能；对LBE整机进行水平月面的连续步态规划，并设计单步足端轨迹，通过动力学仿真，验证LBE行走步态稳定性。仿真结果表明：LBE沿前进方向连续稳定运行，质心竖直方向浮动仅占整器高度的0.24%，俯仰角最大摆动幅度为0.34°，翻滚角最大摆动幅度为0.27°。
Abstract:A design and analysis approach and continuous gait planning scheme of quadruped lunar-based equipment (LBE) based on the same chain configuration are suggested in order to address the issues of challenging configuration design and complex gait analysis of lunar probes with buffer and walking functions. The multi-functional landing leg mechanism and the multi-state pose of the whole machine are designed. Then, the single-leg kinematics model of LBE is constructed. Its forward and inverse kinematics are solved. The workspace and motion performance of the single leg and the whole machine in a walking state are analyzed. Moreover, the continuous gait planning for the LBE on the horizontal lunar surface is carried out, and the one-step trajectory of the foot pad is designed. The motion stability of the landing leg mechanism and the walking gait stability of the LBE are confirmed through the virtual prototype model simulation. The simulation results show that the LBE operates continuously and stably along the forward direction, the vertical floating of the centroid accounts for only 0.24% of the height of the whole device, and the maximum swing amplitude of pitch angle and roll angle are 0.34° and 0.27°.
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Key words:
- lunar-based equipment /
- configuration design /
- kinematic analysis /
- manipulability /
- gait planning
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图 8 单腿四向足端相对主体运动范围
Figure 8. Four direction motion range of foot pad relative to main body
表 1 LBE单腿单支链改进DH参数
Table 1. Improved DH parameter of single chain of single leg for LBE
连杆k 转角${\phi _{k - 1}}$ 偏置${a_{k - 1}}$ 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 _{i1}} $ 0 4 0 $ {l_{i1}} $ $ {\theta _{i2}} $ 0 5 $ {-}\text{π} /2 $ 0 $ {\theta _{i3}} $ 0 6 0 $ {l_{i2}} $ 0 0 
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表 2 支链构型参数
Table 2. Configuration parameters of branched chain
支链 $ \alpha $/(°) $ \beta $/(°) $r$/m $h$/m $ {l_1} $/m $ {l_2} $/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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