面向空间太阳能电站在轨装配的爬行机器人关键技术  

Research on the Key Technology of Crawler Robot Orbiting on Space Solar Power Station

作　　者：时月天 侯绪研[1] 饶笑山 李龙[2] 陈涛[3] SHI Yuetian;HOU Xuyan;RAO Xiaoshan;LI Long;CHEN Tao(Harbin Institute of Technology,Harbin 150001,China;Shanghai University,Shanghai 200444,China;Suzhou University,Suzhou 215006,China)

机构地区：[1]哈尔滨工业大学,哈尔滨150001 [2]上海大学,上海200444 [3]苏州大学,苏州215006

出　　处：《空间电子技术》2018年第2期106-112,共7页Space Electronic Technology

基　　金：中央高校基本科研业务费专项资金(HIT.NSRIE.2017028)

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 plafform 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 sinmlated. Combined with the rod- like 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.

关 键 词：空间太阳能电站 薄膜结构 桁架结构 在轨组装 爬行机器人 

分 类 号：V474[航空宇航科学与技术—飞行器设计]