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2023 | OriginalPaper | Chapter

Optimization Design of Buffering and Walking Foot for Planetary Legged Robots

Authors : Chu Zhang, Liang Ding, Huaiguang Yang, Haibo Gao, Liyuan Ge, Zongquan Deng

Published in: Advances in Mechanism, Machine Science and Engineering in China

Publisher: Springer Nature Singapore

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Abstract

The legged robot has better adaptability to terrain in the process of moving and has been considered for future planetary exploration missions. As the part of direct contact with planet soil, the foot will directly affect movement performance and control effect of the legged robot. In this paper, the advantages and disadvantages of various foot configurations of ground legged robot are analyzed, and a coronal foot configuration is proposed. Based on the foot-terrain interaction mechanics model, the size of the coronal foot is optimized with the goal of anti-sinkage, anti-slip and light weight. Then, a high-performance coronal foot with two-stage buffering and touch sensing functions is designed. And the finite element analysis is carried out to verify the reliability of strength and stiffness of the foot in the ultimate working conditions. Finally, the anti-sinkage and tangential traction performance of the coronal foot is verified by quasi-static loading, loading with impact and tangential slip experiments.

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Metadata
Title
Optimization Design of Buffering and Walking Foot for Planetary Legged Robots
Authors
Chu Zhang
Liang Ding
Huaiguang Yang
Haibo Gao
Liyuan Ge
Zongquan Deng
Copyright Year
2023
Publisher
Springer Nature Singapore
Book
Advances in Mechanism, Machine Science and Engineering in China

Print ISBN: 978-981-19-9397-8

Electronic ISBN: 978-981-19-9398-5

Copyright Year: 2023

DOI
https://doi.org/10.1007/978-981-19-9398-5_22

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