面向空间站桁架的三分支机器人的步态规划与研究

Gait Planning and Study of Climbing Robot with Three Branches for Space Station Truss

针对空间站的检测和维修任务中传统的二分支攀爬机器人在移动速度、操作空间和灵活性上存在不足的问题,提出了一种9自由度三分支攀爬机器人,既可实现在空间站桁架上的二分支运动步态和三分支运动步态,又可利用第三支进行操作和载荷的搬运。机器人步态仿真结果表明,设计的三分支仿生攀爬机器人具有更多的运动方式和操作模式,并且提高了移动速度。

Due to the limitations of the traditional two branch climbing robots in moving speed, op-erating space and flexibility during the inspection and maintenance tasks on space station, a three branch climbing robot with 9 degrees- of-freedom（ DOFs） was proposed. It can not only achieve the two branches climbing gait and the three branches rolling gait, but also complete the payload trans-portation task with the third branch in a narrow space. The simulation results showed that the three branch bionic climbing robot had more types of motion and operation modes and its moving speed was greatly improved.