Design and Motion Modeling of a Small-Scale Lunar Jumping Robot
Jumping is a viable form of locomotion for lunar surface exploration. However, due to the limited research on the coupling between jumping robots and the lunar surface, applying jumping robots for lunar surface detection remains challenging. Aiming at the load index of 5 kPa for the lunar surface de...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Shanghai Jiao Tong University
2025-08-01
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| Series: | Shanghai Jiaotong Daxue xuebao |
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| Online Access: | https://xuebao.sjtu.edu.cn/article/2025/1006-2467/1006-2467-59-8-1169.shtml |
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| author | YAN He, ZHU Xingyue, HOU Zhangli, WANG Weijun, ZHANG Zhinan |
| author_facet | YAN He, ZHU Xingyue, HOU Zhangli, WANG Weijun, ZHANG Zhinan |
| author_sort | YAN He, ZHU Xingyue, HOU Zhangli, WANG Weijun, ZHANG Zhinan |
| collection | DOAJ |
| description | Jumping is a viable form of locomotion for lunar surface exploration. However, due to the limited research on the coupling between jumping robots and the lunar surface, applying jumping robots for lunar surface detection remains challenging. Aiming at the load index of 5 kPa for the lunar surface detector, a new energy storage leg configuration of a jumping robot was proposed to realize low load jump with variable initial velocity and direction during take-off. The parameters of energy storage element were optimized to realize near-constant force take-off of the robot, which was validated in a dynamic simulation environment. To enable accurate jumps on the surface of the moon, a lunar soil mechanical property model considering damping characteristics was proposed, a discrete element simulation environment was built to determine the mechanical parameters, with a jumping dynamics model of the lunar surface robot established to verify the model accuracy through discrete element dynamics coupling simulation. Based on this dynamic model, two motion planning algorithms are implemented, confirming the application of the model. |
| format | Article |
| id | doaj-art-3a684a4dcaeb4befb9e4631c6fb2177d |
| institution | Kabale University |
| issn | 1006-2467 |
| language | zho |
| publishDate | 2025-08-01 |
| publisher | Editorial Office of Journal of Shanghai Jiao Tong University |
| record_format | Article |
| series | Shanghai Jiaotong Daxue xuebao |
| spelling | doaj-art-3a684a4dcaeb4befb9e4631c6fb2177d2025-08-26T09:29:34ZzhoEditorial Office of Journal of Shanghai Jiao Tong UniversityShanghai Jiaotong Daxue xuebao1006-24672025-08-015981169118010.16183/j.cnki.jsjtu.2023.646Design and Motion Modeling of a Small-Scale Lunar Jumping RobotYAN He, ZHU Xingyue, HOU Zhangli, WANG Weijun, ZHANG Zhinan0 1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Shanghai Institute of Aerospace System Engineering, Shanghai 201109, ChinaJumping is a viable form of locomotion for lunar surface exploration. However, due to the limited research on the coupling between jumping robots and the lunar surface, applying jumping robots for lunar surface detection remains challenging. Aiming at the load index of 5 kPa for the lunar surface detector, a new energy storage leg configuration of a jumping robot was proposed to realize low load jump with variable initial velocity and direction during take-off. The parameters of energy storage element were optimized to realize near-constant force take-off of the robot, which was validated in a dynamic simulation environment. To enable accurate jumps on the surface of the moon, a lunar soil mechanical property model considering damping characteristics was proposed, a discrete element simulation environment was built to determine the mechanical parameters, with a jumping dynamics model of the lunar surface robot established to verify the model accuracy through discrete element dynamics coupling simulation. Based on this dynamic model, two motion planning algorithms are implemented, confirming the application of the model.https://xuebao.sjtu.edu.cn/article/2025/1006-2467/1006-2467-59-8-1169.shtmllunar surface detectionjumping robotmechanical properties of lunar soildynamic modeldiscrete element simulation |
| spellingShingle | YAN He, ZHU Xingyue, HOU Zhangli, WANG Weijun, ZHANG Zhinan Design and Motion Modeling of a Small-Scale Lunar Jumping Robot Shanghai Jiaotong Daxue xuebao lunar surface detection jumping robot mechanical properties of lunar soil dynamic model discrete element simulation |
| title | Design and Motion Modeling of a Small-Scale Lunar Jumping Robot |
| title_full | Design and Motion Modeling of a Small-Scale Lunar Jumping Robot |
| title_fullStr | Design and Motion Modeling of a Small-Scale Lunar Jumping Robot |
| title_full_unstemmed | Design and Motion Modeling of a Small-Scale Lunar Jumping Robot |
| title_short | Design and Motion Modeling of a Small-Scale Lunar Jumping Robot |
| title_sort | design and motion modeling of a small scale lunar jumping robot |
| topic | lunar surface detection jumping robot mechanical properties of lunar soil dynamic model discrete element simulation |
| url | https://xuebao.sjtu.edu.cn/article/2025/1006-2467/1006-2467-59-8-1169.shtml |
| work_keys_str_mv | AT yanhezhuxingyuehouzhangliwangweijunzhangzhinan designandmotionmodelingofasmallscalelunarjumpingrobot |