Research on Foot-Soil Slipping Performance of Footed Robot in Soft Geology on Lunar Surface
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摘要:移动机器人作为月球探索的重要方式，足端力是步态控制的重要参量。为研究足端花纹设计对松散月壤中足-壤相互作用对足端抗滑移性能影响，分别对三角形、圆弧形和矩形3种足端花纹构型进行了防滑性能研究。通过数值仿真对不同花纹构型在相同竖向荷载下界面的抗滑移性能，通过等效原则得到了各花纹构型抗滑移参数。结果表明，足端花纹未完全刺入月壤前，相同竖向荷载作用下圆弧形花纹沉陷量最小，矩形花纹次之，三角形花纹沉陷量最大；同时，圆弧形花纹滑移量、应力峰值亦最小；足–壤接触面抗滑移模型下，相同沉陷量时矩形花纹等效抗剪强度最大其等效摩擦角33.44°、黏聚力2.58 kPa，圆弧形花纹最小其等效摩擦角30.16°、黏聚力2.48 kPa。Abstract:Mobile robot is the backbone of the way of the lunar exploration, its foot end force is an important parameter for gait control. In order to study the effect of foot pattern design on foot-soil interaction in loose lunar soil on the anti-slip performance of the foot end, the anti-slip performance of three foot end pattern configurations was studied: triangle, arc and rectangle. The anti-slip performances of different pattern configurations under the same vertical load were studied through numerical simulation, and the anti-slip parameters of each pattern configuration were obtained through the equivalence principle. The results show that before the foot end pattern is completely pierced into the lunar soil, the circular arc pattern has the smallest settlement amount under the same vertical load, followed by the rectangular pattern with the triangular pattern having the largest settlement amount pattern under the same vertical load. At the same time, the slippage and stress peak of the circular arc pattern are also minimal. Under the anti-slip model of foot-soil contact surface, the equivalent shear strength of the rectangular pattern is the greatest when the same amount of subsidence is the largest, the equivalent friction angle is 33.44°, and the cohesion force 2.58 kpa, the circular arc pattern is the smallest, and its equivalent friction angle is 30.16° and the cohesion force 2.48 kpa.Highlights
● Three kinds of anti-skip patterns on the foot end of the foot robot were designed. ● The interaction model of multi-type pattern foot end and soft was established. ● Slipping force analysis on the foot-soil interface of footed robot. ● Equivalent anti-skip model based on pattern. ● Equivalent angle of friction and equivalent cohesion of soft soil at foot-soil interface under the influence of vertical load. -
图 1四足机器人整体结构示意图
注：1-机身；2-髋关节；3-大腿；4-膝关节；5-小腿；6-足端。
Fig. 1Schematic diagram of overall structure of four-legged robot
图 8不同花纹在不同竖向荷载下的应力–滑移（τ-δ）曲线
Fig. 8Stress-slip（τ-δ）curves of different patterns under different vertical loads
图 11各花纹足–壤接触面摩擦角分布
Fig. 11Distribution of friction angle in foot-soil contact surface of each pattern
图 12各花纹足–壤接触面黏聚力分布
Fig. 12Cohesion distribution of foot-soil contact surface of each pattern
表 1土壤参数
Table 1Soil parameters
参数类型 土壤参数 杨氏模量/Mpa 48.8 泊松比 0.3 内摩擦角/（°） 42.97 膨胀角/（°） 5 黏聚力/ kpa 1.79 压缩系数 0.19 密度/（kg·m–3） 1660 
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表 2仿真分析工况参数
Table 2Simulation analysis of operating parameters
花纹类型 荷载/ kPa 速度/（m·s–1） 三角形花纹 50 0.5 三角形花纹 100 0.5 三角形花纹 200 0.5 圆弧形花纹 50 0.5 圆弧形花纹 100 0.5 圆弧形花纹 200 0.5 矩形花纹 50 0.5 矩形花纹 100 0.5 矩形花纹 200 0.5 下载:
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表 3摩擦角和黏聚力汇总表
Table 3Friction angle and cohesion su mmary table
等效值花纹类型 三角形花纹 圆弧形花纹 矩形花纹 $\varphi$/（°） 32.85 30.16 33.44 c/ kPa 2.49 2.48 2.58 下载:
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