The legged robot has better adaptability to terrain in the process of moving and has been considered for future planetary exploration missions. As the part of direct contact with planet soil, the foot will directly affect movement performance and control effect of the legged robot. In this paper, the advantages and disadvantages of various foot configurations of ground legged robot are analyzed, and a coronal foot configuration is proposed. Based on the foot-terrain interaction mechanics model, the size of the coronal foot is optimized with the goal of anti-sinkage, anti-slip and light weight. Then, a high-performance coronal foot with two-stage buffering and touch sensing functions is designed. And the finite element analysis is carried out to verify the reliability of strength and stiffness of the foot in the ultimate working conditions. Finally, the anti-sinkage and tangential traction performance of the coronal foot is verified by quasi-static loading, loading with impact and tangential slip experiments.
Optimization Design of Buffering and Walking Foot for Planetary Legged Robots
Lect.Notes Mechanical Engineering
International Conference on Mechanism and Machine Science ; 2022 ; Yantai, China July 30, 2022 - August 01, 2022
Advances in Mechanism, Machine Science and Engineering in China ; Chapter : 22 ; 393-408
2023-06-01
16 pages
Article/Chapter (Book)
Electronic Resource
English
Kinematics Analysis of Four-Legged Walking Robots for Grabbing Object
Trans Tech Publications | 2012
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