月球探测重载六足移动机器人基础理论及关键技术研究

项目名称： 月球探测重载六足移动机器人基础理论及关键技术研究

项目编号： No.51275106

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 高海波

作者单位： 哈尔滨工业大学

项目金额： 85万元

中文摘要： 月面未知环境下具高承载能力的电驱动六足移动机器人是月球探测中不可或缺的装备。月球探测重载六足移动机器人基础理论及关键技术研究有利于丰富和发展足式移动机器人相关理论，也为足式移动机器人前沿关键技术解决提供参考依据。美国在该类机器人的研究方面已取得显著成果，而我国尚未开展深入研究。针对月球探测重载六足移动机器人构型综合研究欠缺、足地相互作用力学研究不够深入、控制方法有待深化、仿真研究不够完善等问题，本课题拟对重载六足移动机器人进行拓扑综合和尺度综合研究，提出机器人性能评价指标及方法；研发足地作用测试系统，构建基于足地相互作用力的应力分布和集中力/力矩模型，获得地面力学参数在线辨识方法；求解机器人立足点稳定区域，研究力/位混合控制和局部反射策略；搭建重载六足移动机器人仿真平台；研制重载六足移动机器人缩比原理样机；获取机器人相关仿真和试验数据，为星球探测重载多足移动机器人的研究奠定基础。

中文关键词： 月球探测；重载六足机器人；构型综合；足地力学；控制和仿真

英文摘要： The electric-drive six-legged robot, which can bear the heavy load and traverse in unknown environment of the lunar surface, is necessary device for lunar exploration. The researches of fundamental theories and key techniques on the heavy-duty six-legged robot for lunar exploration could not only enrich and develop the correlated theories of the legged robots, but also provide references for solving the cutting-edge techniques of the legged robots. Under the research of that kind of robots, prominent achievements have been gained in the USA, but correlated researches are not yet developed in China. At present, due to many problems on the research of the heavy-duty six-legged robot of lunar exploration in China, for example, the deficiency of the research of the configuration synthesis, the lacking of research on the foot-ground mechanics, the un-depth research of the control strategies, the non-perfect of the simulation research, etc., the basic and the key techniques research will be performed in this project for an electric-drive heavy-duty six-legged robot of lunar exploration. In this project, the main research contents are to execute the researches of the topology synthesis and the scale synthesis, to put forward the performance evaluation indexes and the evaluation techniques, to develop the test system of

英文关键词： lunar exploration；heavy-duty hexapod robot；configuration synthesis；foot-terrain mechanics；control and simulation