On Configuration Design And Gait Planning Of Mobile Exploration Lander

Soft-landing rover technology is the main direction of International of deep space exploration equipment technology.Also it is the hotspot of the international and frontier topics.At present,all of the planet landers is immovable.Based on project supportted by relevant research departments of China Aerospace Group.From the mechanism design angle development fundamental research,we try to make robots movable and design a new gait on planets with complex road conditions.And provides advance research support for developed the deep space exploration equipment with Chinese characteristics and international advanced level.Based on the extraterrestrial body environment characteristics and work patterns,we propose a design scheme of mobile exploration lander mechanism based on G_F theory.Construct the kinetics and dynamics model for the robot,this scheme with a good adaptability to the terrain and the stability.Analyze the robot index system of performance.Calculate the workspace of robot’s body and leg,then analyze the ability of adapting the terrain,the ability of adjust posture,folded and unfolded and determin the optimal original locations,with a good flexibility and walking abilityConsider the planet with tough terrain and the stringent requirement of robot energy saving,design a gait based on the principle of minimum stream power and stability.Analyze all the conditions and then choose an optimal gait,which with a good energy consumption characteristic.In order to insure stability and continuity of the robot movement.Proposing a mathematical model by introducing time parameter.It can make the interpolation according to one or more pose velocity or acceleration data specified at any point in time.Developped a software of motion planning with different number of dimensions by using matlab.With this method we can design foot and body trajectory with good qualities.Besides,mobile exploration lander cannot be repaired.Error tolerance capability of the robot is analyzed by theory of Spira.Analyze the robot’s residual motion after some failures.This provides a basis for the mobile exploration lander work’s high reliability.