TY - GEN
T1 - Research on the key technology of crawler robot orbiting on space solar power station
AU - Shi, Yuetian
AU - Hou, Xuyan
AU - Rao, Xiaoshan
AU - Li, Long
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/5
Y1 - 2018/10/5
N2 - Aiming at the feature that the space solar power station is assembled on the orbit by the film-truss module, a foot-type robot crawling on the surface of the film and the truss is 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 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.
AB - Aiming at the feature that the space solar power station is assembled on the orbit by the film-truss module, a foot-type robot crawling on the surface of the film and the truss is 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 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.
KW - Crawling robot
KW - Film structure
KW - In-orbit assemble
KW - Space solar power station
KW - Truss structure
UR - https://www.scopus.com/pages/publications/85056306305
U2 - 10.1109/ICMA.2018.8484586
DO - 10.1109/ICMA.2018.8484586
M3 - 会议稿件
AN - SCOPUS:85056306305
T3 - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
SP - 936
EP - 941
BT - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
Y2 - 5 August 2018 through 8 August 2018
ER -