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.
维普
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