Design and Analysis of the Crawling and Rolling Characteristics of the Crawling and Rolling Robot for the Lunar Extreme Terrain

doi:10.3901/JME.2021.03.035

Abstract

Abstract: For the scientific exploration task of lunar extreme environment, a scheme of the crawling and rolling integrated robot with fast passing and good environmental adaptability is proposed. Through the shape change of six legs of the robot, the robot has two motion modes of crawling and rolling. Based on the analysis of the configuration of the climbing roll robot, the forward and inverse kinematics model of the single leg is established. Based on the kinematics and the foot end trajectory planning, the straight and in-situ turning gait of the robot in the crawling mode is designed. Combined with the particularity of the complex terrain, the maximum climbing angle and the maximum obstacle crossing height of the robot in the rolling mode are analyzed by size and force constraints. Based on the ADAMS software, the movement behaviors of robot, such as straight gait and turning gait in the crawling mode, climbing and obstacle crossing in the rolling mode, are simulated, and the robot prototype test platform in the laboratory environment is built. The simulation and test results show that the robot has good mobile performance in the crawling mode, and has certain climbing performance and obstacle surmounting ability in the rolling mode, crawling and rolling mode motion characteristics analysis can accurately evaluate the performance of the robot, which proves the applicability and feasibility of the design scheme, and provides reference for the follow-up research of special detection robot.

Key words: lunar surface, robot, configuration design, special-shaped wheel, motion characteristics

CLC Number:

TG156

ZHANG Yuanxun, HUANG Zedong, HAN Liangliang, GU Chengpeng, ZHANG Wenqi. Design and Analysis of the Crawling and Rolling Characteristics of the Crawling and Rolling Robot for the Lunar Extreme Terrain[J]. Journal of Mechanical Engineering, 2021, 57(3): 35-48.

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