弱引力下小行星动量驱动机器人的可控跳跃行为

To meet the detection requirement in a weak complex gravitational environment, a momentum-driven robot (MoRo) is proposed in the context of asteroid surface landing detection. The friction and collision characteristics are used by MoRo in the weak gravitational environment. By actively identifying the environmental parameters, the momentum wheels are planned and controlled to generate the desired driving torque so as to complete the controllable jumping tasks and stable photographing tasks after flying. Firstly, the jumping mechanism of MoRo is analyzed and the jumping method of MoRo is planned based on the characteristics of MoRo's momentum wheel brake mechanism in the weak gravitational field. Secondly, considering the nonlinear characteristics of the three closed-loop servo system of momentum wheel driving mechanism, the Herze model and the Karnopp model are used to establish the jumping behavior dynamics model of MoRo on the surface of the asteroid. Then, the functional relationship is established between the environmental parameters and the MoRo's motion using machine learning algorithms. The jumping distance and flying height can be controlled by the speed planning of momentum wheel based on the environmental parameters. The last, a continuous jump mission is designed. The numerical simulation validates the feasibility of the jumping planning method and the control method.