Development Of Gecko Inspired Robot For Space Station Detection In Small Space

As the expansion of in-orbit activity range,people are more and more demanding on the operational capability of on-orbit spacecraft.The combination of robot and space technology instead of astronauts to carry out repeated and dangerous work in space environment is the inevitable development trend of future spacecraft.Due to the current space station size constraints,the instruments which behind the small space lack of effective engineering solutions on daily testing and maintenance tasks,while outstanding van der Waals adhesion mechanisms and excellent friction and adhesion control make gecko even able to move in the space environment.Therefore,the development of space-based bionic robots based on gecko structure,bristle adherent material and adhesion control has great significance to improve the space station ability.This paper uses the test and maintenance tasks of the space instrument in the space station under the microgravity environment as the demand background.Based on the existing research on the gecko biological structure and the steady state of movement,aiming at the research background that geckos can climb in microgravity environment,this paper discusses the development of a biomimetic adhesive robot for narrow space based on gecko structure innovation in microgravity.The main research contents are as follows:1)According to the specific mission requirements of the small space in the space station cabin,the specific engineering goal of the space robot is formulated,the robot’s movement boundary is defined,which provides the constraints and reference for the mechanical system design of the robot.2)From the perspective of bionics,based on the study of Gekko gecko’s biology and the study of vertical and stable climbing,a kind of "high shoulder low-mass point" robot one-legged structure is designed for the narrow space movement by imitating its prostrate body structure.This paper discusses the overall three-dimensional model of the robot and processed the mechanical parts of the whole machine.Taking the single leg as an example to calculate the kinematics positive and negative solutions.The dimension constraints and references are provided for the design and construction of the control system All the above provides the foundation for the design and construction of control system.3)The robot’s control system is designed on the basis of the robot’s mechanical system,using a hierarchical and progressive control framework.The hard control system includes the host control module,the slave leg movement module and the rotation angle feedback module.The software control system includes data reception module,parsing module and PWM generation module,which helps the robot achieve a precise real-time control system.All above will provide the foundation for a robot to climb stably under microgravity conditions4)According to the structural characteristics of the existing gecko robots and the attachment and detachment properties of the soles of the feet,this paper studies the diagonal climbing gait and the zero-radius gait of the robot under the micro-gravity environment based on the design of the foot trajectory in the past.Using the dynamic simulation software to verify and re-optimize the gait,and finally realizing swing of a single leg of a robot under a predetermined trajectory.