月基装备行走运动学分析与连续步态规划

A design and analysis approach and continuous gait planning scheme of quadruped lunar-based equipment (LBE) based on the same chain configuration are suggested in order to address the issues of challenging configuration design and complex gait analysis of lunar probes with buffer and walking functions. The multifunctional landing leg mechanism and the multi-state pose of the whole machine are designed. Then, the single-leg kinematics model of LBE is constructed. Its forward and inverse kinematics are solved. The workspace and motion performance of the single leg and the whole machine in a walking state are analyzed. Moreover, the continuous gait planning for the LBE on the horizontal lunar surface is carried out, and the one-step trajectory of the foot pad is designed. The motion stability of the landing leg mechanism and the walking gait stability of the LBE are confirmed through the virtual prototype model simulation. The simulation results show that the LBE operates continuously and stably along the forward direction, the vertical floating of the centroid accounts for only 0.24% of the height of the whole device, and the maximum swing amplitude of pitch angle and roll angle are 0.34° and 0.27°.