The study of kinematics simulation of space truss assembly robot on orbit based on EDEM and ADAMS

Tianfeng Tang; Xuyan Hou; Xiao Li; Pan Cao; Pingping Xue

doi:10.1109/ICARM.2017.8273143

The study of kinematics simulation of space truss assembly robot on orbit based on EDEM and ADAMS

Tianfeng Tang
, Xuyan Hou^*
, Xiao Li
, Pan Cao
, Pingping Xue

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

The crawling robot plays an important role in the space mission, such as detection, assemblage and repairing, which can even be an indispensable technology. For the task of unmanned space truss assembly in the future, this paper presents a kind of underactuated pole-climbing robot based on the mechanism of adhesion. The influences of adhesion of the legs' part of the robot was researched and analysed through the coupling simulation of EDEM and ADAMS, after which we got the adhering force between the legs' part and its climbing objects. The simulation results can provide guidance and theoretical basis for the detailed design of this kind of robot.

Original language	English
Title of host publication	2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	106-110
Number of pages	5
ISBN (Electronic)	9781538632604
DOIs	https://doi.org/10.1109/ICARM.2017.8273143
State	Published - 2 Jul 2017
Event	2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 - Hefei and Tai'an, China Duration: 27 Aug 2017 → 31 Aug 2017

Publication series

Name	2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Volume	2018-January

Conference

Conference	2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Country/Territory	China
City	Hefei and Tai'an
Period	27/08/17 → 31/08/17

Keywords

Crawling robot
Discrete element method
In-orbit assembly
Kinematics simulation

Access to Document

10.1109/ICARM.2017.8273143

Cite this

Tang, T., Hou, X., Li, X., Cao, P., & Xue, P. (2017). The study of kinematics simulation of space truss assembly robot on orbit based on EDEM and ADAMS. In 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 (pp. 106-110). (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2017.8273143

Tang, Tianfeng ; Hou, Xuyan ; Li, Xiao et al. / The study of kinematics simulation of space truss assembly robot on orbit based on EDEM and ADAMS. 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 106-110 (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017).

@inproceedings{02de6f585d2a44e0848116601594f494,

title = "The study of kinematics simulation of space truss assembly robot on orbit based on EDEM and ADAMS",

abstract = "The crawling robot plays an important role in the space mission, such as detection, assemblage and repairing, which can even be an indispensable technology. For the task of unmanned space truss assembly in the future, this paper presents a kind of underactuated pole-climbing robot based on the mechanism of adhesion. The influences of adhesion of the legs' part of the robot was researched and analysed through the coupling simulation of EDEM and ADAMS, after which we got the adhering force between the legs' part and its climbing objects. The simulation results can provide guidance and theoretical basis for the detailed design of this kind of robot.",

keywords = "Crawling robot, Discrete element method, In-orbit assembly, Kinematics simulation",

author = "Tianfeng Tang and Xuyan Hou and Xiao Li and Pan Cao and Pingping Xue",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 ; Conference date: 27-08-2017 Through 31-08-2017",

year = "2017",

month = jul,

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doi = "10.1109/ICARM.2017.8273143",

language = "英语",

series = "2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "106--110",

booktitle = "2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017",

address = "美国",

}

Tang, T, Hou, X, Li, X, Cao, P & Xue, P 2017, The study of kinematics simulation of space truss assembly robot on orbit based on EDEM and ADAMS. in 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 106-110, 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, Hefei and Tai'an, China, 27/08/17. https://doi.org/10.1109/ICARM.2017.8273143

The study of kinematics simulation of space truss assembly robot on orbit based on EDEM and ADAMS. / Tang, Tianfeng; Hou, Xuyan; Li, Xiao et al.
2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 106-110 (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Hou, Xuyan

AU - Li, Xiao

AU - Cao, Pan

AU - Xue, Pingping

PY - 2017/7/2

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N2 - The crawling robot plays an important role in the space mission, such as detection, assemblage and repairing, which can even be an indispensable technology. For the task of unmanned space truss assembly in the future, this paper presents a kind of underactuated pole-climbing robot based on the mechanism of adhesion. The influences of adhesion of the legs' part of the robot was researched and analysed through the coupling simulation of EDEM and ADAMS, after which we got the adhering force between the legs' part and its climbing objects. The simulation results can provide guidance and theoretical basis for the detailed design of this kind of robot.

AB - The crawling robot plays an important role in the space mission, such as detection, assemblage and repairing, which can even be an indispensable technology. For the task of unmanned space truss assembly in the future, this paper presents a kind of underactuated pole-climbing robot based on the mechanism of adhesion. The influences of adhesion of the legs' part of the robot was researched and analysed through the coupling simulation of EDEM and ADAMS, after which we got the adhering force between the legs' part and its climbing objects. The simulation results can provide guidance and theoretical basis for the detailed design of this kind of robot.

KW - Crawling robot

KW - Discrete element method

KW - In-orbit assembly

KW - Kinematics simulation

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BT - 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Tang T, Hou X, Li X, Cao P, Xue P. The study of kinematics simulation of space truss assembly robot on orbit based on EDEM and ADAMS. In 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 106-110. (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017). doi: 10.1109/ICARM.2017.8273143

The study of kinematics simulation of space truss assembly robot on orbit based on EDEM and ADAMS

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