Experimental system and ground experimental method for gecko-inspired robot under micro-gravity environment

An experimental system and robot technology, which is applied to the gecko-like robot experimental system and ground experiment, the experimental system and the ground experiment field of the gecko-like robot in a microgravity environment, can solve the problems of high cost and high cost, and achieve low cost and extended Effects of service life and increased passive degrees of freedom

Active Publication Date: 2015-08-26
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

This method is relatively simple, but it can only simulate the test in the plane
In addition, the existing space microgravity environment ground simulation test devices and methods are all aimed at large-scale manipulators and space vehicles, which usually have high cost, high cost, and various defects

Method used

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  • Experimental system and ground experimental method for gecko-inspired robot under micro-gravity environment
  • Experimental system and ground experimental method for gecko-inspired robot under micro-gravity environment
  • Experimental system and ground experimental method for gecko-inspired robot under micro-gravity environment

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Embodiment Construction

[0023] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0024] Such as figure 1 As shown, the experimental system of the imitation gecko robot in the microgravity environment of this embodiment includes the imitation gecko robot 1 , the balloon 2 , the adhesion platform 3 and the control unit 4 . The balloon 2 is used to provide gravity compensation for the imitation gecko robot 1 in any pose in three-dimensional space; the balloon 2 is a hydrogen balloon, or a helium balloon, a hot air balloon, etc., whose gas density is lower than that of air. The gecko-like robot 1 can stick and detach from the sticking platform 3 . Sticky Platform 3 has x , y , z The degrees of freedom in three directions can set different sticking-off environments for the gecko-like robot 1 . The control unit 4 is installed on the imitation gecko robot 1 for controlling the operation of the gecko imitation robot 1 .

[0025] Such as f...

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Abstract

The invention discloses an experimental system for a gecko-inspired robot under a micro-gravity environment, and belongs to the technical field of robots. The experimental system comprises a gecko-inspired robot mechanism, an air balloon, a three-freedom motion platform and a motion control unit, wherein the air balloon is used for providing gravity compensation to the gecko-inspired robot mechanism; the motion control unit is used for controlling the gecko-inspired robot mechanism to operate; the gecko-inspired robot mechanism comprises a machine body and four limbs of the same structure, which are connected with the machine body, and any two adjacent limbs are symmetrical; and the density of gas filled in the air balloon is smaller than the air density. According to the experimental system, the micro-gravity environment is simulated by the air balloon with the filled gas density smaller than the air density, and the gravity compensation of a micro robot under a three-dimensional space is realized, so that the experimental system is low in cost, high in operability and high in reliability in comparison with a conventional method. The invention further provides an experimental method for the gecko-inspired robot under the micro-gravity environment.

Description

technical field [0001] The invention relates to a gecko-imitation robot experiment system and a ground experiment method, specifically an experiment system and a ground experiment method for a gecko-imitation robot in a microgravity environment, belonging to the technical field of robots. Background technique [0002] With the advancement of science and technology, human beings' ability to explore, research, develop and apply space is constantly expanding and improving. Since the 1950s, the aerospace industry has developed rapidly. The creation of space shuttles, spaceships, and the establishment of space stations marked the beginning of outer space as a space for human activities. In space activities, the demand for on-orbit services such as maintenance and repair of spaceflight equipment, fuel filling, and orbital debris cleaning and inspection has become more and more urgent. In order to reduce costs and improve the efficiency of astronauts' extravehicular operations, sp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032B64G7/00
CPCB62D57/032B64G7/00
Inventor 戴振东汪中原孙功勋
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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