The landing buffer is an important problem in the research on bionic locust jumping robots, and the different modes of landing and buffering can affect the dynamic performance of the buffering process significantly. B...The landing buffer is an important problem in the research on bionic locust jumping robots, and the different modes of landing and buffering can affect the dynamic performance of the buffering process significantly. Based on an experimental observation, the different modes of landing and buffering are determined, which include the different numbers of landing legs and different motion modes of legs in the buffering process. Then a bionic locust mechanism is established, and the springs are used to replace the leg muscles to achieve a buffering effect. To reveal the dynamic performance in the buffering process of the bionic locust mechanism, a dynamic model is established with different modes of landing and buffering. In particular, to analyze the buffering process conveniently, an equivalent vibration dynamic model of the bionic locust mechanism is proposed.Given the support forces of the ground to the leg links, which can be obtained from the dynamic model, the spring forces of the legs and the impact resistance of each leg are the important parameters affecting buffering performance, and evaluation principles for buffering performance are proposed according to the aforementioned parameters. Based on the dynamic model and these evaluation principles, the buffering performances are analyzed and compared in different modes of landing and buffering on a horizontal plane and an inclined plane. The results show that the mechanism with the ends of the legs sliding can obtain a better dynamic performance. This study offers primary theories for buffering dynamics and an evaluation of landing buffer performance,and it establishes a theoretical basis for studies and engineering applications.展开更多
The prober with an immovable lander and a movable rover is commonly used to explore the Moon’s surface.The rover can complete the detection on relatively flat terrain of the lunar surface well,but its detection effic...The prober with an immovable lander and a movable rover is commonly used to explore the Moon’s surface.The rover can complete the detection on relatively flat terrain of the lunar surface well,but its detection efficiency on deep craters and mountains is relatively low due to the difficulties of reaching such places.A lightweight four-legged landing and walking robot called“FLLWR”is designed in this study.It can take off and land repeatedly between any two sites wherever on deep craters,mountains or other challenging landforms that are difficult to reach by direct ground movement.The robot integrates the functions of a lander and a rover,including folding,deploying,repetitive landing,and walking.A landing control method via compliance control is proposed to solve the critical problem of impact energy dissipation to realize buffer landing.Repetitive landing experiments on a five-degree-of-freedom lunar gravity testing platform are performed.Under the landing conditions with a vertical velocity of 2.1 m/s and a loading weight of 140 kg,the torque safety margin is 10.3%and 16.7%,and the height safety margin is 36.4%and 50.1%for the cases with or without an additional horizontal disturbance velocity of 0.4 m/s,respectively.The study provides a novel insight into the next-generation lunar exploration equipment.展开更多
基金supported by the National Natural Science Foundation of China (Grant 51375035)the Specialized Research Fund for the Doctoral Program of Higher Education of China (Grant 20121102110021)
文摘The landing buffer is an important problem in the research on bionic locust jumping robots, and the different modes of landing and buffering can affect the dynamic performance of the buffering process significantly. Based on an experimental observation, the different modes of landing and buffering are determined, which include the different numbers of landing legs and different motion modes of legs in the buffering process. Then a bionic locust mechanism is established, and the springs are used to replace the leg muscles to achieve a buffering effect. To reveal the dynamic performance in the buffering process of the bionic locust mechanism, a dynamic model is established with different modes of landing and buffering. In particular, to analyze the buffering process conveniently, an equivalent vibration dynamic model of the bionic locust mechanism is proposed.Given the support forces of the ground to the leg links, which can be obtained from the dynamic model, the spring forces of the legs and the impact resistance of each leg are the important parameters affecting buffering performance, and evaluation principles for buffering performance are proposed according to the aforementioned parameters. Based on the dynamic model and these evaluation principles, the buffering performances are analyzed and compared in different modes of landing and buffering on a horizontal plane and an inclined plane. The results show that the mechanism with the ends of the legs sliding can obtain a better dynamic performance. This study offers primary theories for buffering dynamics and an evaluation of landing buffer performance,and it establishes a theoretical basis for studies and engineering applications.
基金funded by the National Key R&D Program of China(Grant No.2021YFF0307905).
文摘The prober with an immovable lander and a movable rover is commonly used to explore the Moon’s surface.The rover can complete the detection on relatively flat terrain of the lunar surface well,but its detection efficiency on deep craters and mountains is relatively low due to the difficulties of reaching such places.A lightweight four-legged landing and walking robot called“FLLWR”is designed in this study.It can take off and land repeatedly between any two sites wherever on deep craters,mountains or other challenging landforms that are difficult to reach by direct ground movement.The robot integrates the functions of a lander and a rover,including folding,deploying,repetitive landing,and walking.A landing control method via compliance control is proposed to solve the critical problem of impact energy dissipation to realize buffer landing.Repetitive landing experiments on a five-degree-of-freedom lunar gravity testing platform are performed.Under the landing conditions with a vertical velocity of 2.1 m/s and a loading weight of 140 kg,the torque safety margin is 10.3%and 16.7%,and the height safety margin is 36.4%and 50.1%for the cases with or without an additional horizontal disturbance velocity of 0.4 m/s,respectively.The study provides a novel insight into the next-generation lunar exploration equipment.
