面向空间非合作航天器的空间爬壁机器人方案
|
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.
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.
引文
[1] Stoll E, Letschnik J, Walter U, et al. On-orbit servicing[J]. Robotics & Automation Magazine IEEE, 2009, 16(4): 29-33.
[2] Flores-Abad A, Ma O, Pham K, et al. A review of space robotics technologies for on-orbit servicing[J]. Progress in Aerospace Sciences, 2014, 68(8): 1-26.
[3] Murphy M P, Kute C, Menguc Y, et al. Waalbot II: Adhesion recovery and improved performance of a climbing robot using fibrillar adhesives[J]. The International Journal of Robotics Research, 2011, 30(1): 118-133.
[4] Pretto I, Ruffieux S, Menon C, et al. A point-wise model of adhesion suitable for real-time applications of bio-inspired climbing robots[J]. Journal of Bionic Engineering, 2008, 5(S1): 98-105.
[5] Parness A, Abcouwer N, Fuller C, et al. LEMUR 3: A limbed climbing robot for extreme terrain mobility in space[C]//Singapore: Robotics and Automation (ICRA), 2017.
[6] 张晓峰, 俞志伟, 张昊, 等. 基于Matlab的仿壁虎机器人仿生步态规划与仿真[J]. 高技术通信, 2011, 21(2): 185-190.Zhang X, Yu Z, Zhang H, et al. Matlab based gait planning and simulating of a robot inspired by gecko locomotion[J]. Chinese High Technology Letters, 2011, 21(2): 185-190.(in Chinese)
[7] 胡重阳, 梅涛, 刘彦伟, 等. 仿生六足机器人机构设计及控制方法研究[J]. 机械科学与技术, 2014, 33(11): 1621-1626.Hu C, Mei T, Liu Y, et al. Research of control method and mechanism design of bio-inspired hexapod robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2014, 33(11): 1621-1626.(in Chinese)
[8] 张敬. 航天器对星座多星接近轨道设计问题研究[D], 长沙: 国防科技大学,2013.Zhang J. Study on Approach Orbit Design Between Spacecraft and Multiple Constellation Satellites[D]. Changsha: National University of Defense Technology, 2013.(in Chinese)
[9] 刘晋豪. 非合作卫星对接缓冲机构及其地面实验的研究[D]. 哈尔滨:哈尔滨工业大学, 2015.Liu J. Buffering Mechanism and Ground Experiment for Capturing of Non-Cooperative Satellite[D]. Harbin: Harbin Institute of Technology, 2015.(in Chinese)
[10] Autumn K, Gravish N. Gecko adhesion: evolutionary nanotechnology[J]. Philosophical Transactions of the Royal Society, 2008, 366(11): 1575-1590.
[2] Flores-Abad A, Ma O, Pham K, et al. A review of space robotics technologies for on-orbit servicing[J]. Progress in Aerospace Sciences, 2014, 68(8): 1-26.
[3] Murphy M P, Kute C, Menguc Y, et al. Waalbot II: Adhesion recovery and improved performance of a climbing robot using fibrillar adhesives[J]. The International Journal of Robotics Research, 2011, 30(1): 118-133.
[4] Pretto I, Ruffieux S, Menon C, et al. A point-wise model of adhesion suitable for real-time applications of bio-inspired climbing robots[J]. Journal of Bionic Engineering, 2008, 5(S1): 98-105.
[5] Parness A, Abcouwer N, Fuller C, et al. LEMUR 3: A limbed climbing robot for extreme terrain mobility in space[C]//Singapore: Robotics and Automation (ICRA), 2017.
[6] 张晓峰, 俞志伟, 张昊, 等. 基于Matlab的仿壁虎机器人仿生步态规划与仿真[J]. 高技术通信, 2011, 21(2): 185-190.Zhang X, Yu Z, Zhang H, et al. Matlab based gait planning and simulating of a robot inspired by gecko locomotion[J]. Chinese High Technology Letters, 2011, 21(2): 185-190.(in Chinese)
[7] 胡重阳, 梅涛, 刘彦伟, 等. 仿生六足机器人机构设计及控制方法研究[J]. 机械科学与技术, 2014, 33(11): 1621-1626.Hu C, Mei T, Liu Y, et al. Research of control method and mechanism design of bio-inspired hexapod robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2014, 33(11): 1621-1626.(in Chinese)
[8] 张敬. 航天器对星座多星接近轨道设计问题研究[D], 长沙: 国防科技大学,2013.Zhang J. Study on Approach Orbit Design Between Spacecraft and Multiple Constellation Satellites[D]. Changsha: National University of Defense Technology, 2013.(in Chinese)
[9] 刘晋豪. 非合作卫星对接缓冲机构及其地面实验的研究[D]. 哈尔滨:哈尔滨工业大学, 2015.Liu J. Buffering Mechanism and Ground Experiment for Capturing of Non-Cooperative Satellite[D]. Harbin: Harbin Institute of Technology, 2015.(in Chinese)
[10] Autumn K, Gravish N. Gecko adhesion: evolutionary nanotechnology[J]. Philosophical Transactions of the Royal Society, 2008, 366(11): 1575-1590.