Journal of Astronautics ›› 2021, Vol. 42 ›› Issue (9): 1090-1098.doi: 10.3873/j.issn.1000-1328.2021.09.004

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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

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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