Comparative study of terramechanics properties of spherical and cylindrical feet for planetary legged robots on deformable terrain

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics Pub Date : 2024-03-12 DOI:10.1016/j.jterra.2024.100968

Huaiguang Yang , Chu Zhang , Liang Ding , Qingqing Wei , Haibo Gao , Guangjun Liu , Liyuan Ge , Zongquan Deng

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引用次数: 0

Abstract

Legged robots exhibit superior adaptability to complex extraterrestrial environments compared to wheeled mobile robots. However, legged robots employed in planetary exploration face challenges in dealing with soft terrains. This paper focuses on investigating the issues of large foot sinkage and slip encountered by legged robots on soft terrain. Extensive experiments on quasi-static loading, loading with impact and tangential force have been carried out for both spherical and cylindrical feet. The variations in normal force, tangential force, and sinkage are meticulously recorded and analyzed. Foot-terrain interaction mechanics models are established to address scenarios involving substantial sinkage and sliding sinkage, leveraging the stress distribution characteristics of deformable soil. Accurate models are obtained through parameter identification utilizing experimental data, which can aid in the foot design of legged robots intended for planetary exploration. Based on the developed models and experimental data, a design optimization scheme for the coronal foot is proposed, leading to performance enhancements that are validated through experimental verification.

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行星腿机器人球形脚和圆柱形脚在可变形地形上的地形力学特性比较研究

与轮式移动机器人相比，腿式机器人对复杂的地外环境具有更强的适应能力。然而，在行星探索中使用的腿式机器人在处理软地形时面临挑战。本文重点研究了有腿机器人在松软地形上遇到的大量脚陷和滑移问题。针对球形脚和圆柱形脚进行了大量的准静态加载、冲击加载和切向力实验。对法向力、切向力和下沉的变化进行了细致的记录和分析。利用可变形土壤的应力分布特征，建立了脚-地形相互作用力学模型，以解决涉及大量下沉和滑动下沉的情况。通过利用实验数据进行参数识别，获得了精确的模型，这有助于用于行星探索的有脚机器人的脚部设计。根据所建立的模型和实验数据，提出了冠状脚的优化设计方案，从而通过实验验证提高了性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Terramechanics 工程技术-工程：环境

CiteScore

5.90

自引率

8.30%

发文量

审稿时长

15.3 weeks

期刊介绍： The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.