宇航学报

宇航学报 ›› 2021, Vol. 42 ›› Issue (9): 1090-1098.doi: 10.3873/j.issn.1000-1328.2021.09.004

• 飞行器设计与力学 • 上一篇    下一篇

一种仿蝗虫腿空间缓冲吸附机构缓冲参数研究

李龙，葛泽宇，田应仲，张泉   

  1. 1. 上海大学机电工程与自动化学院，上海 201900；2. 上海市智能制造及机器人重点实验室，上海 201900；3. 上海大学人工智能研究院，上海 201900
  • 收稿日期:2021-04-12 修回日期:2021-05-27 出版日期:2021-09-15 发布日期:2021-09-15

Research on Buffer Parameters of a Non Cooperative Space Buffer Adsorption Mechanism Imitating Locust Legs

LI Long, GE Ze yu, TIAN Ying zhong, ZHANG Quan   

  1. 1. School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 201900, China;2.Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai 201900, China;3. Artificial Intelligence Institute, Shanghai University, Shanghai 201900, China

  • Received:2021-04-12 Revised:2021-05-27 Online:2021-09-15 Published:2021-09-15

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摘要： 针对空间机器人在太空高速工况下，难以平稳地着陆且黏附在目标航天器表面的问题，提出了一种仿蝗虫腿非合作空间缓冲吸附机构。为了得到机构最优的缓冲参数，使得其与目标航天器碰撞时不发生回弹且减小碰撞力以保护自身，提出了空间缓冲吸附机构碰撞缓冲的动力学模型，该模型研究方法基于连续碰撞力方程。通过对空间缓冲吸附机构的腿部胫节、股节以及整机的受力分析，求得其不同受力工况下的动力学方程。采用线性弹簧阻尼结构等效空间缓冲吸附机构碰撞缓冲过程，建立空间缓冲吸附机构碰撞动力学模型，并结合实际碰撞缓冲参数设计出空间缓冲吸附机构碰撞过程的刚度系数和阻尼系数。最后利用动力学仿真进行校验，结果表明用此方法，机构所受碰撞力大幅减小且不发生回弹，证明了方法的合理性。


关键词: 仿蝗虫腿, 空间缓冲吸附机构, 缓冲参数, 碰撞动力学, 着陆缓冲

Abstract: In order to solve the problem that the space robot can not land smoothly and stick to the surface of the target spacecraft at high speed in space, a kind of locust leg non cooperative space buffer adsorption mechanism is proposed. In order to obtain the optimal buffer parameters of the mechanism, so that it will not rebound when colliding with the target spacecraft and reduce the collision force to protect itself, a dynamic model of the space buffer adsorption mechanism collision buffer is proposed. The research method of the model is based on the continuous collision force equation. By analyzing the forces on the leg tibial joint, thigh joint and the whole machine of the space buffer adsorption mechanism, the dynamic equations under different stress conditions are obtained. The linear spring damping structure is used as the equivalent space buffer adsorption mechanism collision buffering process, and the collision dynamics model of the space buffer adsorption mechanism is established. Combined with the actual collision buffering parameters, the stiffness coefficient and damping coefficient of the space buffer adsorption mechanism collision process are designed. Finally, the dynamic simulation is used to verify the mechanism. The results show that the impact force of the mechanism is greatly reduced and there is no springback, which proves the correctness and rationality of this method.


Key words: Bionic locust legs, Space buffer adsorption mechanism, Buffer parameter, Collision dynamics, Soft landing buffer

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