徐杰,徐雄,左堃罡,夏善涛,许可

• 1:上海航天电子技术研究所

摘要(Abstract)：

火星地形以大面积的沙漠和崎岖陡峭的山地为主，传统火星车容易陷入沙土或难以翻越障碍。为提高火星探测任务的成功率和探索范围，文章设计一种适应火星主要地形的航天器仿生足。该仿生足兼顾沙漠和山地，具备大面积多弧形足底的柔性垫，可有效在沙漠中起到防滑防陷的作用；还具备可多向安装的仿生钩爪，支持足式火星机器人攀越崎岖山地。开展多弧形柔性足垫在沙地中的受力分析，论证其优越的防滑防陷功能。构建钩爪与大倾角地形作用的球接触力学模型，分析总结其在不同角度下建立有效抓附效果的规律。制作足部实物进行性能测试，得到了单足最佳钩爪的配置为6根钩爪，弯曲角为125°。开展足式火星机器人的运动仿真试验，验证了仿生足的越野性能和减震性能。试验结果和理论分析表现一致，仿生足具备针对火星探测的应用前景和研究价值。

关键词(KeyWords)： 火星机器人;仿生钩爪;多弧形底面足部;接触力学分析;抓附力测试

Abstract:

Keywords:

基金项目(Foundation):

作者(Author): 徐杰,徐雄,左堃罡,夏善涛,许可

参考文献(References)：

• [1] COOK R A,SPEAR A J.Back to Mars:the Mars Pathfinder mission [J].Acta Astronautica,1997,41(4/5/6/7/8/9/10):599-608.
• [2] ARVIDSON R E,BELL J F III,BELLUTTA P,et al.Spirit Mars rover mission:overview and selected results from the northern Home Plate Winter Haven to the side of Scamander crater [J].Journal of Geophysical Research Planets,2010,115(E7):633-650.
• [3] STEVEN W S,RAYMOND E A,DIANE B,et al.Overview of the opportunity Mars exploration rover mission to Meridiani Planum:eagle crater to purgatory ripple [J].Journal of Geophysical Research:Planets,2006,111(E12):6201-6222.
• [4] LI Q,RAO W,CHENG X,et al.Aerodynamic design,analysis,and validation techniques for the Tianwen-1 entry module [J].Astrodynamics,2022,6(1):14.
• [5] Perko H A,Nelson J D,Green J R.Mars soil mechanical properties and suitability of Mars soil simulants [J].Journal of Aerospace Engineering,2006,19(3):169-176.
• [6] 赵鹏越，全齐全，邓宗全，等.旋翼式火星无人机技术发展综述[J].宇航学报，2018,39(2):121-130.ZHAO Pengyue,QUAN Qiquan,DENG Zongquan,et al.Overview of research on rotary wing Mars unmanned aerial vehicles [J].Journal of Astronautics,2018,39(2):121-130 (in Chinese).
• [7] HAMIM F A,PROBAL I A,AHMED A S,et al.An enhanced prototype of rover for space exploration [J].Advances in Astronautics Science and Technology,2020,3:75-96.
• [8] CHU X,ZHANG Q,ZHOU Y,et al.Locomotion planning for quadruped robot walking on lunar rough terrain [J].Advances in Astronautics Science and Technology,2022,5:93-102.
• [9] CORDIE T,STEINDL R,DUNGAVELL R,et al.Modular field robots for extraterrestrial exploration [J].Advances in Astronautics Science and Technology,2020,3:37-47.
• [10] YANG P,GAO F.Leg kinematic analysis and prototype experiments of walking-operating multifunctional hexapod robot [J].Journal of Mechanical Engineering Science,2014,228(12):2217-2232.
• [11] DILLER E.Design of a biologically-inspired climbing hexapod robot for complex maneuvers [D].Ohio:Case Western Reserve University,2010.
• [12] MICHAEL H,AUSAMA A,PAOLO B,et al.Abigaille-III:a versatile,bioinspired hexapod for scaling smooth vertical surfaces [J].Journal of Bionic Engineering,2014,11(1):1-17.
• [13] 薛龙，党兆龙，陈百超，等.地面力学在火星壤力学参数估计研究中的进展与展望[J].宇航学报，2020,41(2):136-146.XUE Long,DANG Zhaolong,CHEN Baichao,et al.Advances and prospects of Martian soil parameter identification based on terramechanics [J].Journal of Astronautics,2020,41(2):136-146 (in Chinese).
• [14] SHIGAMI G,MIWA A,NAGATANI K,et al.Terramechanics based model for steering maneuver of pla netary exploration rovers on loose soil [J].Journal of Field Robotics,2007,24(3):233-250.
• [15] Bekker M G.Introduction to terrain-vehicle systems.partⅠ:the terrain.partⅡ:the vehicle [J].Journal of Terramechanics,1969,6(4):65.
• [16] WONG I Y.Theory of ground vehicles [M].New York:John Wiley & Sons,2001.
• [17] 赵智慧.钩爪式四足爬壁机器人[D].南京：南京航空航天大学，2017.ZHAO Zhihui.A four-legged wall-climbing robot based on claws [D].Nanjing:Nanjing University of Aeronautics and Astronautics,2017 (in Chinese).
• [18] 江南.对抓钩爪式六足爬壁机器人[D].南京：南京航空航天大学，2018.JIANG Nan.A claws-paired hexapod climbing robot [D].Nanjing:Nanjing University of Aeronautics and Astronautics,2018 (in Chinese).