A New Pattern of Hybrid Bionic Space Robot and Path Planning Algorithm

The extravehicular activities are complex and dangerous technical activities, if with the replacement of the space extravehicular robots, not only the whole process can be more efficient but also the astronauts can be safer. Due to these, based on analysis of the ISS extravehicular surface and the requirements of the operations, a pattern of hybrid bionic robot inspired by chameleon is proposed. The robot has lower limbs simulating chameleon as travel mechanisms and upper limbs simulating human as operating mechanisms. Because of the limit of power, a series of reasonable motion modes and path planning methods were raised. At last, throughout data software, the functions of robot were simulated and the results showed the rationality of the feasibility of robot's structure as well as the effectiveness of the path planning methods.