CAJ | 학술논문

针对可在空间飞行器表面吸附爬行和自主可控飞行的空间机器人爬行过程进行控制与仿真问题,在某系统方案和机构设计基础上,基于机器人行走稳定裕度的要求,设计了一种稳定快速爬行的步态,对其足端步态运动轨迹采用三次多项式插值的方法进行规划,并通过逆运动学求解出各个关节的运动轨迹,基于Adams软件对机器人进行动力学建模及仿真,结果表明在空间零重力环境下,四足吸附式爬行机器人能够快速稳定的行走,验证其机构设计和步态规划的合理性.
침대가재공간비행기표면흡부파행화자주가공비행적공간궤기인파행과정진행공제여방진문제,재모계통방안화궤구설계기출상,기우궤기인행주은정유도적요구,설계료일충은정쾌속파행적보태,대기족단보태운동궤적채용삼차다항식삽치적방법진행규화,병통과역운동학구해출각개관절적운동궤적,기우Adams연건대궤기인진행동역학건모급방진,결과표명재공간령중력배경하,사족흡부식파행궤기인능구쾌속은정적행주,험증기궤구설계화보태규화적합이성.
For the application of space maintenance, a robot was introduced, which can adhere and crawl on the surface of a spacecraft and can be autonomously controlled during flight. Firstly, the system scheme and mechanism design of the robot were introduced. Based on the stability margin re-quirements of the robot walk, a stable and fast gait was designed, and the foot trajectory was planned with cubic curve-fitting method. Then the trajectory of each joint was solved using inverse kinematics method. The dynamic analysis of robot based on Adams illustrates that quadruped adhension-type climbing robot can walk stably in high-speed under zero-gravity environment. It also demonstrates that the mechanism design and gait planning of robot work well.