Spacecraft surface crawling robot capable of autonomously sensing movement

Abstract

The invention discloses a spacecraft surface crawling robot capable of autonomously sensing movement. The crawling robot comprises a mechanical structure and a control system. The mechanical structure comprises six multi-degree-of-freedom legs and feet composed of eighteen steering engines and connecting mechanisms thereof, and a robot platform main body, and the platform main body is provided with a storage battery, an electrostatic adsorption module composed of a relay switch, a voltage booster and an electrostatic adsorption film, and a depth camera with a built-in IMU sensor; the crawling robot achieves adsorption on the surface of a spacecraft based on the electrostatic adsorption principle. The control system adopts hardware such as an embedded microprocessor and an expansion interface board, and autonomous movement is realized through sensing-planning-control. Meanwhile, whether adsorption force exists or not can be controlled in cooperation with gaits of the robot, and the torque needed by leg lifting of the robot is reduced. And finally, a dynamic simulation method is provided to calculate the adsorption force required by the robot, and the crawling ability of the robot is verified. Adsorption, crawling, autonomous sensing and moving of the robot on the surface of the spacecraft are achieved.

Description

technical field [0001] The invention belongs to the field of mobile robots, and in particular relates to a crawling robot on the surface of a spacecraft capable of autonomously sensing movement. Background technique [0002] As a major component of space infrastructure, robotic on-orbit servicing is the key to developing the space frontier. The concept of in-orbit servicing was first proposed in the 1960s and then implemented in many key missions in the last century. In fact, the on-orbit service of robots is also of great significance to my country's current aerospace industry. With the deepening of the construction and operation of my country's space station, it will inevitably involve on-orbit services such as monitoring and maintenance of the outside of the space station. If these inspections and maintenance are completed by astronauts, it will pose a danger to the lives and health of astronauts. Moreover, for general spacecraft, they will not be equipped with astronau...

AI Technical Summary

Problems solved by technology

However, the existing crawling robots for space applications require human manipulation to complete tasks, and cannot autonomously perceive the environment for collision-free path planning and movement, which limits their application occasions.

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