Researching | Adhesion and Locomotion Control of a Hexapod Rover in Low Gravity Environment

AEROSPACE SHANGHAI, Volume. 41, Issue 5, 136(2024)

Adhesion and Locomotion Control of a Hexapod Rover in Low Gravity Environment

Shilin ZHANG^* and Binbin ZAHNG

Author Affiliations

College of Aerospace Science and Engineering，National University of Defense Technology， Changsha410073，， China

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Figures&Tables (18)

References (21)

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Figures & Tables(18)

Fig. 1. The hexapod rover

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Fig. 2. Force decomposition for a supporting leg of the hexapod rover

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Fig. 3. Static friction force and supporting force

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Fig. 4. Three-legged gait phase sequence

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Fig. 5. Trajectory curve of the foot

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Fig. 6. Terminal gait offset and offset vector

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Fig. 7. Framework of the simulated experiment

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Fig. 8. Locomotion of the hexapod rover

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Fig. 9. Trajectory of the mass center

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Fig. 10. Stability margin deviation

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Fig. 11. Force distribution at the foot

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Fig. 12. Acceleration of the foot

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Table 1. Tab.1Physical parameters of the leg
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Table 1. Tab.1Physical parameters of the leg
杆件长度/ $m m$ 质量/ $g$
基节 77.57 32.0
股节 140.05 189.0
胫节 210.38 85.0

Table 2. Tab.2Dynamical parameters of the leg

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Table 2. Tab.2Dynamical parameters of the leg

杆件	质心位置（本体系）/ $m m$	惯量张量/（ $g \cdot m m^{2}$ ）
基节	$[\begin{matrix} 0 \\ 35.824 \\ 0 \end{matrix}]$	$[\begin{matrix} 17 188.38 & - 937.33 & 1 787.92 \\ - 937.33 & 49 446.32 & - 28.69 \\ 1 787.92 & - 28.69 & 49 279.67 \end{matrix}]$
股节	$[\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}]$	$[\begin{matrix} 22 946.96 & - 12 477.23 & 429.59 \\ - 12 477.23 & 194 254.80 & - 50.15 \\ 429.59 & - 50.15 & 187 741.80 \end{matrix}]$
胫节	$[\begin{matrix} 0 \\ 35.025 \\ 75.585 \end{matrix}]$	$[\begin{matrix} 52 874.30 & - 12 477.23 & 1 683.73 \\ - 133 960.13 & 1 191 781.91 & - 226.68 \\ 1 683.73 & - 226.68 & 1 209 860.78 \end{matrix}]$

Table 3. Tab.3Joint parameters of the leg
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Table 3. Tab.3Joint parameters of the leg
关节转轴（本体系）转动范围/(°) 最大速度/[(°)/s]
根关节 $Z$ $- 30 ~ 30$ $20$
髋关节 $X$ $- 90 ~ 90$ $40$
膝关节 $X$ $- 20 ~ 180$ $40$

Table 4. Tab.4Parameters of the simulation environment

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Table 4. Tab.4Parameters of the simulation environment

参数	数值
引力加速度/（ $m \cdot s^{- 2}$ ）	$5.7 \times 10^{- 3}$
逃逸速度/( $m \cdot s^{- 1}$ )	$1.14 \times 10^{- 2}$
温度/K	$233$
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 5. Tab.5Macroscopic statistical quantities of the foot forces

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Table 5. Tab.5Macroscopic statistical quantities of the foot forces

足端位置	$\|\bar{F_{i}^{x}}\|$	$\|\bar{F_{i}^{y}}\|$	$\|\bar{F_{i}^{z}}\|$
右前腿	0.100 34	-1.523 28	0.510 26
右中腿	-0.003 52	-1.517 85	0.498 87
右后腿	-0.102 56	-1.499 96	0.500 37
左前腿	0.109 98	1.511 21	0.499 98
左中腿	0.000 25	1.500 24	0.502 51
左后腿	-0.099 98	1.498 99	0.499 75

Table 6. Tab.6Threshold of the static friction force
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Table 6. Tab.6Threshold of the static friction force
足端位置 $μ |\bar{F_{i}^{n}}| = μ |\bar{F_{i}^{z}}|$ $μ |\bar{F_{i}^{t}}| = μ \sqrt[]{{|\bar{F_{i}^{x}}|}^{2} +} {|\bar{F_{i}^{y}}|}^{2}$
右前腿 0.510 26 1.526 58
右中腿 0.498 87 1.517 86
右后腿 0.500 37 1.503 46
左前腿 0.499 98 1.515 21
左中腿 0.502 51 1.500 24
左后腿 0.499 75 1.50 232

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Shilin ZHANG, Binbin ZAHNG. Adhesion and Locomotion Control of a Hexapod Rover in Low Gravity Environment[J]. AEROSPACE SHANGHAI, 2024, 41(5): 136

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Paper Information

Category: Innovation and Exploration

Received: Jun. 5, 2023

Accepted: --

Published Online: Jan. 15, 2025

The Author Email:

DOI:10.19328/j.cnki.2096-8655.2024.05.015

Topics

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