Abstract
Legged robots have a broad prospect in the field of asteroid exploration. It is a great challenge to make the legged robot move steadily on the asteroid. In this paper, a rigid-flexible coupling gripper based on the legged robot is proposed to anchor the robot on the surface of asteroids. First, the structure of the gripper is described and its mechanical model is established. Second, the basic gait of the asteroid robot is introduced, and the stability index of the asteroid robot is proposed. Third, a trajectory planning method based on the contact angle is proposed. Bessel curves with different local characteristics are constructed. The co-simulation is carried out, and the effect of local geometric features of the motion trajectory on the stability of the gripper is discussed. It is found that when the contact angle is a right angle, the stability of the gripper is improved. Accordingly, both the kinetostatic model and the trajectory planning are verified.
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Supported by the State Key Laboratory of Mechanical System and Vibration under Grant MSVZD202106, Key Laboratory Fund of Science and Technology on Space Intelligent Control under Grant HTKJ2019KL502011.
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Wen, Q., He, J., Wang, Z., Sun, J., Gao, F. (2021). Design and Kinetostatic Analysis of a Legged Robot for Asteroid Exploration. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_45
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DOI: https://doi.org/10.1007/978-3-030-89092-6_45
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