• AEROSPACE SHANGHAI
  • Vol. 41, Issue 5, 136 (2024)
Shilin ZHANG* and Binbin ZAHNG
Author Affiliations
  • College of Aerospace Science and Engineering,National University of Defense Technology, Changsha410073, , China
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    DOI: 10.19328/j.cnki.2096-8655.2024.05.015 Cite this Article
    Shilin ZHANG, Binbin ZAHNG. Adhesion and Locomotion Control of a Hexapod Rover in Low Gravity Environment[J]. AEROSPACE SHANGHAI, 2024, 41(5): 136 Copy Citation Text show less
    The hexapod rover
    Fig. 1. The hexapod rover
    Force decomposition for a supporting leg of the hexapod rover
    Fig. 2. Force decomposition for a supporting leg of the hexapod rover
    Static friction force and supporting force
    Fig. 3. Static friction force and supporting force
    Three-legged gait phase sequence
    Fig. 4. Three-legged gait phase sequence
    Trajectory curve of the foot
    Fig. 5. Trajectory curve of the foot
    Terminal gait offset and offset vector
    Fig. 6. Terminal gait offset and offset vector
    Framework of the simulated experiment
    Fig. 7. Framework of the simulated experiment
    Locomotion of the hexapod rover
    Fig. 8. Locomotion of the hexapod rover
    Trajectory of the mass center
    Fig. 9. Trajectory of the mass center
    Stability margin deviation
    Fig. 10. Stability margin deviation
    Force distribution at the foot
    Fig. 11. Force distribution at the foot
    Acceleration of the foot
    Fig. 12. Acceleration of the foot
    杆件长度/mm质量/g
    基节77.5732.0
    股节140.05189.0
    胫节210.3885.0
    Table 1. Physical parameters of the leg
    杆件质心位置(本体系)/mm惯量张量/(gmm2
    基节035.824017 188.38-937.331 787.92-937.3349 446.32-28.691 787.92-28.6949 279.67
    股节00022 946.96-12 477.23429.59-12 477.23194 254.80-50.15429.59-50.15187 741.80
    胫节035.02575.58552 874.30-12 477.231 683.73-133 960.131 191 781.91-226.681 683.73-226.681 209 860.78
    Table 2. Dynamical parameters of the leg
    关节转轴(本体系)转动范围/(°)最大速度/[(°)/s]
    根关节Z-30~3020
    髋关节X-90~9040
    膝关节X-20~18040
    Table 3. Joint parameters of the leg
    参数数值
    引力加速度/(ms-25.7×10-3
    逃逸速度/(ms-1)1.14×10-2
    温度/K233
    滑动摩擦系数1.00
    软约束力混合参数1.00
    软误差减小参数0.20
    接触点动态刚度系数3 000
    接触点动态阻尼系数2 250
    Table 4. Parameters of the simulation environment
    足端位置Fix¯Fiy¯Fiz¯
    右前腿0.100 34-1.523 280.510 26
    右中腿-0.003 52-1.517 850.498 87
    右后腿-0.102 56-1.499 960.500 37
    左前腿0.109 981.511 210.499 98
    左中腿0.000 251.500 240.502 51
    左后腿-0.099 981.498 990.499 75
    Table 5. Macroscopic statistical quantities of the foot forces
    足端位置μFin¯=μFiz¯μFit¯=μFix¯2+Fiy¯2
    右前腿0.510 261.526 58
    右中腿0.498 871.517 86
    右后腿0.500 371.503 46
    左前腿0.499 981.515 21
    左中腿0.502 511.500 24
    左后腿0.499 751.50 232
    Table 6. Threshold of the static friction force