Abstract
Complex and unknown areas in deep space exploration present major challenges to the motion ability of current space robots. Different from the traditional single-mode motion space robot, a compound motion robot with flexible movement and strong obstacle surmounting ability is proposed. Through the highly integrated structure design, the lightweight robot has the ability of rolling and jumping, and the kinematic characteristics of the robot under two motion modes are analyzed. This work provides a reference for the design of deep space exploration equipment with high motion capability in the future.
Highlights
For deep space exploration, the primary task of the detector is to reach the target area
A rolling and jumping compound motion robot was designed and analyzed, which integrated a rolling motion module based on a single pendulum structure and a jumping module based on springs
In the design process of the rolling motion module, in order to reduce the overall weight of the rolling and jumping robot and improve the motion performance of the rolling and jumping robot, a new single pendulum structure was designed based on the classical single pendulum rolling robot
Summary
The primary task of the detector is to reach the target area. Relevant studies have gradually been reported, Zhang has developed a wheeled jumping robot, which is driven by two wheels, when encountering obstacles, the internal spring legs can release energy to realize jumping [14], and Zhang of. Relevant studies have gradually been re2-of 17 ported, Zhang has developed a wheeled jumping robot, which is driven by two wheels, when encountering obstacles, the internal spring legs can release energy to realize jump-. Sci. 2021, 11, x FOR PEER REVIEtWhe shell was d; twhaescLo;uthnetetruwrneiingghrtamdiaussswwasasr,man;dthtehedgisetoamnecteribcertawdieuesnotfhtehelirmobitopt wosaisti9Roon.f 1o8n both sides of the counterweight and the shape center was l; the length of the swing arm was L; the turning radius was r, and the geometric radius of the robot was R. According to Equations (5)–(8), in the steering movement, r and L meet the following constraints:
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