宇航学报

宇航学报 ›› 2022, Vol. 43 ›› Issue (9): 1186-1195.doi: 10.3873/j.issn.1000-1328.2022.09.006

• 飞行器设计与力学 • 上一篇    下一篇

空间黏附足式爬行机器人的稳定性判据及蠕动步态

唐玲，王克鹏，张彬，魏世民   

  1. 北京邮电大学人工智能学院，北京 100083
  • 收稿日期:2022-03-15 修回日期:2022-06-01 出版日期:2022-09-15 发布日期:2022-09-15

Stability Criterion and Creep Gait of a Space Robot with Adhesive Feet

TANG Ling, WANG Kepeng, ZHANG Bin, WEI Shimin   

  1. School of Artificial Intelligence, Beijing University of Posts and Telecommunications, Beijing 100083, China
  • Received:2022-03-15 Revised:2022-06-01 Online:2022-09-15 Published:2022-09-15

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摘要： 面向空间在轨服务任务中的黏附足式爬行机器人应用需求，提出一种通过足端和腹部黏附实现爬行的机器人构型，分析了空间黏附足式爬行机器人的稳定性原理，推导了一种以机器人黏附和脱附力矩平衡为稳定条件的空间黏附足式爬行机器人稳定性判据。在此基础上，分析得出空间黏附足式爬行机器人3+1步态的不稳定性，并规划了一种适用于黏附足式爬行机器人在空间微重力环境下的稳定行走步态，即蠕动步态。最后，通过仿真验证了所提出的空间黏附足式爬行机器人稳定性判据及所规划蠕动步态的有效性。

关键词: 空间足式机器人, 黏附, 稳定性判据, 蠕动步态, 在轨服务

Abstract: For the application requirements of the adhesive feet crawling robot in space on orbit servicing missions, a kind of robot configuration is proposed to realize crawling through the adhesion of feet and abdomen. The stability principle of space robot with adhesive feet is analyzed， and a stability criterion of space adhesive feet crawling robot is derived based on the balance of robot adhesion and desorption torque. On this basis, the instability of 3+1 gait of the space adhesive feet robot is analyzed, and a stable gait suitable for adhesive feet crawling robot in space microgravity environment is planned, namely creep gait. Finally, the effectiveness of the proposed stability criterion and the planned creep gait is verified by simulation.

Key words: Space foot robot, Adhesion, Stability criterion, Creep gait, On orbit servicing

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