面向空间太阳能电站在轨装配的爬行机器人关键技术
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摘要
提出一种可在薄膜和桁架表面爬行的足式机器人,以完成对空间太阳能电站由薄膜-桁架模块在轨组装。机器人系统由操作工具搭载平台、压电驱动式多关节腿、微结构修饰附着足等组成。在此基础上,基于仿生理论,对自然界具有高攀爬能力的生物足端微结构进行了分析与仿真,并结合桁架的杆类结构和薄膜的柔性结构的特点,开展了机器人微结构修饰足特性的附着特性研究。利用离散元-多体动力学耦合仿真平台,对机器人在桁架结构和薄膜结构上的爬行过程进行了仿真研究,为爬行机器人的运动控制提供了依据。通过上述研究,验证了利用爬行机器人系统实现薄膜-桁架模块在轨操作与组装的方案可行性,为空间太阳能电站在轨装配任务提供了技术储备。
In order to finish assembling on the orbit of the space solar power station by the film-truss module,a foot-type robot crawling on the surface of the film and the truss was proposed. The robotic system consists of a platform with operating tools,a piezo-driven multi-joint leg,and a microstructure-modified attachment. On this basis,based on the bionics theory,the biological foot-end microstructure with high climbing ability in nature was analyzed and simulated. Combined with the rodlike structure of truss and the flexible structure of the film,the robot micro-structure modified foot study on the characteristics of adhesion. The discrete element-multibody dynamic simulation platform is used to simulate the crawling process of the robot on the truss structure and the thin film structure,which provides the basis for the motion control of the crawling robot.Through the above research,it is verified that the crawling robotic system can realize the feasibility of in-orbit operation and assembly of the film-truss module and provide technical reserve for on-orbit assembly tasks of space solar power station.
In order to finish assembling on the orbit of the space solar power station by the film-truss module,a foot-type robot crawling on the surface of the film and the truss was proposed. The robotic system consists of a platform with operating tools,a piezo-driven multi-joint leg,and a microstructure-modified attachment. On this basis,based on the bionics theory,the biological foot-end microstructure with high climbing ability in nature was analyzed and simulated. Combined with the rodlike structure of truss and the flexible structure of the film,the robot micro-structure modified foot study on the characteristics of adhesion. The discrete element-multibody dynamic simulation platform is used to simulate the crawling process of the robot on the truss structure and the thin film structure,which provides the basis for the motion control of the crawling robot.Through the above research,it is verified that the crawling robotic system can realize the feasibility of in-orbit operation and assembly of the film-truss module and provide technical reserve for on-orbit assembly tasks of space solar power station.
引文
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[2]Nishida S I,Yoshikawa T.A new end-effector for on-orbit assembly of a large reflector[C]//International Conference on Control,Automation,Robotics and Vision.IEEE,2007:1-6.
[3]Badawy A,Mcinnes C R.On-orbit assembly using superquadric potential fields[J].Journal of Guidance Control&Dynamics,2008,31(1):30-43.
[4]沈晓凤,曾令斌,靳永强,张庆展.在轨组装技术研究现状与发展趋势[J/OL].载人航天,2017,23(2):228-235+244.
[5]Glumov V M,Krutova I N,Sukhanov V M.Fuzzy logicbased adaptive control system for in-orbit assembly of large space structures[M].Plenum Press,2004.
[6]Nechyba M C,Xu Y.Human-robot cooperation in space:SM/sup 2/for new space station structure[J].IEEE Robotics&Automation Magazine,2002,2(4):4-11.
[7]Staritz P J,Skaff S,Urmson C,et al.Skyworker:a robot for assembly,inspection and maintenance of large scale orbital facilities[C]//IEEE International Conference on Robotics and Automation,2001.Proceedings.IEEE,2001(4):4180-4185.
[8]吴剑威,崔继文,史士财,等.面向在轨测量任务的伴飞机器人三维仿真系统[J].哈尔滨工业大学学报,2015,47(2):50-54.
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[10]Lillie C F.On-orbit assembly and servicing of future space observatories[J].Proceedings of SPIE-The International Society for Optical Engineering,2006:6265.
[11]于泽南.太阳能光伏发电系统的管理维护[J].城市建设理论研究(电子版),2015(22).
[12]徐小云,颜国正.微型六足仿生机器人及其三角步态的研究[J].光学精密工程,2002,10(4):392-396.
[13]刘志刚,蔡改贫,曾艳祥,等.基于EDEM与ADAMS耦合的冲击破碎仿真分析[J].中国钨业,2016,31(1):74-80.
[14]胡国明.颗粒系统的离散元素法分析仿真:离散元素法的工业应用与EDEM软件[M].武汉理工大学出版社,2010.