摘要
针对空间非合作目标追踪附着任务的隐蔽性、无统一接口和低冲击着陆等特点,提出了一种基于粘附机理的微小型空间爬壁机器人的方案。考虑空间环境特性、附着目标表面特征等因素,确定了仿昆虫多足弹性多腿结合仿壁虎脚底刚毛干性粘合剂的总体构型,完成了足底刚毛结构微阵列参数的设计与刻蚀,设计了缓冲吸能部件,规划了步行和翻转的两种步态。原理样机验证表明方案可行,可为后续在轨非合作接近任务中微小型机器人的行为规划提供理论支持。
Considering the characteristics of mission concealment,no unified interface and low impact landing,a scheme of miniature space wall-climbing robot based on attachment mechanism was proposed.Then based on the characteristics of the space environment and the target surface,the feasible schemes of the overall configuration and key technologies such as adsorption,buffering and obstacle surmounting were analyzed.A solution that could meet the requirements of this task was formed which could imitate the insect multi-legged elasticity and dry adhesive imitating gecko sole bristles were adopted.After that,the design verification was carried out.The maximum desorption force and adhesion efficiency of different parameters of sole bristle structure microarray were analyzed and the desorption angle was optimized.In addition,the microarray was etched and the main components of energy absorption buffer were calculated.The gait of multi-legged walking and turning were planned.The design validation showed that the scheme was feasible,which may provide theoretical support for the behavior planning of micro-robots in subsequent non-cooperative approach missions on orbit.
作者
肖燕妮
丁永锋
张玉良
李龙
侯绪研
XIAO Yanni;DING Yongfeng;ZHANG Yuliang;LI Long;HOU Xuyan(Beijing Spacecrafts Co.,Ltd,Bejing 100094,China;Shanghai University,Shanghai 201900,China;Harbin Institute of Technology,Harbin 150000,China)
出处
《载人航天》
CSCD
北大核心
2019年第2期218-222,共5页
Manned Spaceflight
关键词
非合作航天器
爬壁机器人
粘附
足式
non-cooperative spacecraft
wall climbing robot
adhesion
foot type
