Design and Simulation of On-Orbit Assembly System Based on Insect-Inspired Transportation

被引:4
|
作者
Shi, Yuetian [1 ]
Hou, Xuyan [1 ]
Gao, Guowei [1 ]
Na, Zhonglai [1 ]
Liu, Yuhui [1 ]
Deng, Zongquan [1 ]
机构
[1] Harbin Inst Technol, Aerosp Mfg Engn Dept, Harbin 150001, Peoples R China
关键词
on-orbit assembly; dynamic modeling; space robot; flexible deformation; SPACE SOLAR POWER; ANTENNA; ARCHITECTURES; TENSEGRITY;
D O I
10.3390/biomimetics8020256
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
In response to the requirements of large-scale space in-orbit assembly and the special environment of low gravity in space, this paper proposes a small robot structure with the integration of assembly, connection, and vibration reduction functionalities. Each robot consists of a body and three composite mechanical arms-legs, which can dock and transfer assembly units with the transport spacecraft unit, and also crawl along the edge truss of the assembly unit to a designated location to complete in-orbit assembly while ensuring precision. A theoretical model of robot motion was established for simulation studies, and in the research process, the vibration of the assembly unit was studied, and preliminary adjustments were made to address the vibration issue. The results show that this structure is feasible for in-orbit assembly schemes and has good adjustment ability for flexible vibration.
引用
收藏
页数:15
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