空间控制技术与应用2025，Vol.51Issue(5)：102-116,15.DOI:10.3969/j.issn.1674-1579.2025.05.010
基于Bricard机构的可变形躯干四足机器人
A Quadruped Robot with a Deformable Trunk Based on the Bricard Mechanism
摘要
Abstract
In response to the significant challenges posed by the complex and rugged lunar environment to deep space exploration,this paper proposes a quadruped robot with a deformable trunk based on the Bricard mechanism,through which two lunar space-adaptive gaits are achieved via trunk deformation:universal gait and environment adaptive gait.By integrating a dual-symmetric Bricard mechanism with wheel-arm foot-end modules,a deformable-trunk quadruped robot is proposed,a degree-of-freedom analysis is performed on the trunk,and three trunk configurations are obtained by leveraging its dual-symmetric motion bifurca-tions:hexagonal,quadrilateral,and transitional deformation.The overall design of the robot is carried out,the configuration planning of the robot is completed,and analyses are conducted on the robot's configuration changes,locomotion capabilities,and obstacle-surmounting performances.Finally,by abstracting the unstructured lunar terrain into basic topographic units,a virtual prototype model is established,and simulation tests including planar locomotion and obstacle crossing are conducted to verify the feasibility of the robotic scheme,which provides an innovative solution for the field of deep space exploration.关键词
Bricard机构/可变形躯干机器人/轮臂足端模块/月面空间适配步态Key words
the bricard mechanism/quadruped robot with deformable trunk/wheel-arm foot-end modules/lunar space-adaptive gait分类
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荣凌智,刘超,徐朝燕,谭稀岑,魏超然..基于Bricard机构的可变形躯干四足机器人[J].空间控制技术与应用,2025,51(5):102-116,15.基金项目
五〇二所空间驱动与操控机构专业实验室开放基金课题资助,课题编号:BICE-SDMM-2023-04 Funded by Space Drive and Manipulation Mechanism laboratory of BICE,No BICE-SDMM-2023-04 （）
