Motion modeling and gait planning of the leg-arm fusion robot for in-orbit assembly

doi:10.16708/j.cnki.1000-758X.2023.0010

Abstract

Abstract: In order to solve the problems of low efficiency，limited space operation and incomplete environment perception，a leg-arm fusion in-orbit assembly robot was proposed.Firstly，the kinematics model of the leg-arm fusion assembly robot was established by D-H method，and the forward and inverse kinematics of its legs were analyzed to obtain the motion relationship between each joint angle and the foot.Secondly，the walking gait and assembling gait of the leg-arm fusion assembly robot were analyzed.The two and three gait were analyzed in the walking gait，and the one-arm assembly and two-arm assembly were analyzed in the assembly gait，so that the robot could walk and assembly smoothly.Finally，a simulation platform based on ROS （robot operating system）was built and the effectiveness of the above walking gait was verified.The results show that the proposed method can be effectively applied to the walking of the robot.

Key words: in-orbit assembly, leg-arm fusion robot, walking gait, assembling gait, ROS

ZHU Li, LI Tuanjie, NING Yuming, YAO Cong. Motion modeling and gait planning of the leg-arm fusion robot for in-orbit assembly[J]. Chinese Space Science and Technology, 2023, 43(1): 100-108.

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URL: http://journal26.magtechjournal.com/kjkxjs/EN/10.16708/j.cnki.1000-758X.2023.0010

http://journal26.magtechjournal.com/kjkxjs/EN/Y2023/V43/I1/100

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Motion modeling and gait planning of the leg-arm fusion robot for in-orbit assembly

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