The invention discloses a lunar surface small jumping robot which comprises a machine base used for supporting a framework, jumping legs used for jumping and landing through energy storage are arranged on the machine base, and a sled bottom plate used for simplifying the interaction between lunar soil and the bottom plate into the sedimentation effect and the shearing effect in the jumping process. The air attitude control system is used for keeping the engine base stable in the jumping process, the side face attitude module is used for adjusting the lateral jumping angle, and the electric control system is used for controlling the jumping robot through the lunar soil jumping kinetic model. According to the method, the effect of lunar soil on the sled bottom plate in the jumping process is simplified into the sedimentation effect and the shearing effect through the rib plate characteristics of the sled bottom plate, so that the robot lunar soil jumping kinetic model is established, the jumping angle, the jumping height and the jumping distance of the robot in the lunar surface jumping process in different initial jumping states are obtained, and the jumping precision is improved.

    本发明公开了一种月面小型跳跃机器人,包括用作于支撑骨架的机座,在所述机座上设有用于通过储能起跳和落地的跳跃腿,用于将跳跃过程中月壤与底板的相互作用简化为沉降作用与剪切作用的雪橇底板,用于保持机座在跳跃过程中平稳的空中姿控系统,用于调整侧向跳跃角度的侧面位姿模块,以及通过月壤跳跃动力学模型控制跳跃机器人的电控系统。本发明通过雪橇底板的肋板特征将跳跃过程中月壤对雪橇底板的作用简化为沉降作用与剪切作用,从而建立机器人月壤跳跃动力学模型,得到不同起跳初状态下机器人月面跳跃时的起跳角度、跳跃高度和跳跃距离,提升跳跃精度。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Lunar-surface small jumping robot


    Weitere Titelangaben:

    一种月面小型跳跃机器人


    Beteiligte:
    ZHU XINGYUE (Autor:in) / YAN HE (Autor:in) / LI XINLEI (Autor:in) / ZHANG ZHINAN (Autor:in) / WANG WEIJUN (Autor:in)

    Erscheinungsdatum :

    2022-11-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64G Raumfahrt , COSMONAUTICS / B62D MOTOR VEHICLES , Motorfahrzeuge



    Lunar surface mobile robot capable of jumping and movement mode thereof

    LI HE / WANG YU / SUN WEI et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Design and Prototyping of Bioinspired Jumping Robot for Lunar Exploration

    Herkenhoff, Brenden / Lanctot, Sara / Hassanalian, Mostafa | AIAA | 2021


    Kangaroo-imitated wearable jumping robot for assisting astronaut in moving on lunar surface

    YUAN JIANPING / FANG JING / SUN CHONG | Europäisches Patentamt | 2021

    Freier Zugriff

    Water surface jumping gliding robot

    YAN JIHONG / ZHANG XIN / YAO HONGWEI et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Jumping robot

    GE SIQIN / SUN ZONGHUI / ZHANG TIANHAO et al. | Europäisches Patentamt | 2023

    Freier Zugriff