首页|可行走着陆机构牛顿-欧拉动力学分析和能耗优化

可行走着陆机构牛顿-欧拉动力学分析和能耗优化

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针对未来深空星表探测任务对长续航、大范围的迫切需求,设计一种可行走四足式着陆机构,并完成动力学分析和运动过程能耗优化.针对任务需求,为可行走着陆器设计了一种串并联混合腿足机构;建立了串并联混合腿足机构的关节坐标系,以求解正逆运动学.在此基础上,基于牛顿-欧拉递推方法,建立了可获取腿足机构运动时各关节力学信息的全状态动力学模型.在动力学研究的基础上,建立了腿足机构关节能耗模型.规划了腿足机构末端的运动轨迹,采用遗传算法对其运动轨迹进行优化.优化后的星表运动过程能耗分析表明,在腿足机构的一个运动周期内,其能耗由初始值降低了约三分之一.在相同的能源供应下可有效改善可行走着陆器在星表的作业效能.
Newton-Euler dynamics analysis and energy optimization of walkable landing mechanisms
Facing the urgent needs of long-endurance and large-range deep-space constellation missions in the future,a walkable quadruped landing mechanism is designed,and the dynamic analysis and energy consumption optimization of the motion process are completed.According to the mission requirements,a series-parallel hybrid leg-foot mechanism is designed for the lander.The joint coordinate system of the series and parallel mixed leg and foot mechanism is established to solve the forward and reverse kinematics.On this basis,based on the Newton-Euler recursion method,a full-state dynamic model that can obtain the mechanical information of each joint during the movement of the leg and foot mechanism is established.On the basis of kinetic research,a joint energy consumption model of leg-foot mechanism is established.The motion trajectory at the end of the leg and foot mechanism is planned,and the genetic algorithm is used to optimize its motion trajectory.The optimized energy consumption analysis of the star table movement process shows that the energy consumption is reduced by about one third from the initial value in one exercise cycle of the leg and foot mechanism.With the same energy supply,the operational efficiency of the walkable lander in the star catalog can be effectively improved.

leg-foot mechanismseries-parallel mixing mechanismfull-state dynamics modeljoint energy consumption modelenergy consumption optimizationwalkable lander

冯盖亚、贾山、陈金宝、周向华

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南京航空航天大学航天学院,南京 211106

深空星表探测机构技术工信部重点实验室,南京 211106

航天进入减速与着陆技术实验室,南京 211106

腿足机构 串并联混合机构 全状态动力学模型 关节能耗模型 能耗优化 可行走着陆器

国家科技专项计划国家科技专项计划国家科技专项计划国家自然科学基金中央高校基本科研业务费

2021-JCIO-JJ-023323-TQ01-04-ZT-01-017D05020252075242NT2022026

2024

10.16338/j.issn.2097-0714.20230353

空天技术
北京海鹰科技情报研究所（中国航天科工集团第三研究院310研究所）

空天技术

CSTPCD北大核心
影响因子：0.402
ISSN：2097-0714
年,卷(期)：2024.(4)
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