Bionic Robot with Multifunctional Leg–Arm Mechanism for In-Orbit Assembly of Space Trusses
Source abstract
Abstract
This article aims to address the in-orbit assembly needs of truss structures in space missions by designing a robot capable of moving on trusses and manipulating parts. To enhance the stability of the robot during movement and part manipulation, inspiration was drawn from the Dynastes Hercules beetle. Building upon detailed research on the Dynastes Hercules beetle, a biomimetic structure was designed for the robot system. Based on specific task requirements, the overall plan of the robot was developed, and its kinematic and dynamic models were derived. A prototype of the robot was created, which is capable of both movement and assembly functions, including handling spherical and rod-like objects. Through a series of experiments conducted with the robot, the research results demonstrated that the proposed design can effectively achieve the intended functions.
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Research context
OpenAlex topics: Modular Robots and Swarm Intelligence · Robotic Locomotion and Control · Planetary Science and Exploration
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Research Center of Aerospace Mechanism and Control, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150080, China
Space Structure Mechanism Technology Laboratory, China Aerospace Science and Technology Group Co., Ltd., Shanghai 201109, China
Zhengzhou Research Institute, Harbin Institute of Technology, Zhengzhou 450000, China
Department of Mechanical Engineering, Faculty of Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong SAR 999077, China
Songjiang Laboratory, Harbin Institute of Technology, Harbin 150080, China
Shanghai Institute of Aerospace System Engineering, Shanghai 201109, China
Funding
National Key R&D Program of China · Open Project of Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co., Ltd. · HIT Youth Scientist Laboratory Project
References (34)
Show source-provided references
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