检索结果-南通市图书馆

landing control method of a lightweight four-legged landing and walking robot

Frontiers of Mechanical Engineering 2022年第4期17卷 33-52页

作者： Ke YIN Chenkun QI Yue GAO Qiao SUN Feng GAO School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

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.

关键词： landing and walking robot lunar exploration buffer landing compliance control

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：