Kai Cao,∗ Jiajun Xu,∗ Tongzhen Ren,∗ Ping Zhang,∗ Xuefei Liu,∗ Juanxia Zhou,∗ Zhennan Tang,∗ Zhiwei Yu,∗ and Aihong Ji∗
Wheel-legged robot, bioinspired robot, complex environment, lunar exploration, kinematic analysis
Facing soft and rugged lunar terrain environment, a hexapod wheel- legged detection robot is proposed. The difference between the robot and the traditional hexapod robot is that the foot-end walking mechanism of the robot uses ostrich feet as bionic objects. Based on the walking mechanism, a wheel-lunar soil contact mechanics model is established, and the contact process between the wheel and the lunar soil is studied and analysed with finite element simulation. Based on the robot structure design, a single-leg forward and inverse kinematics model is established. The working space of the leg motion is calculated based on the Monte Carlo method. The robot gait is planned for different working conditions, and the rationality of the robot structure design and the feasibility of gait planning are verified in the simulation. The robot prototype experiments are carried out, and the results show that the proposed wheel-legged hexapod robot performs satisfactory adaptability under the soft and rugged lunar terrain.
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