基于步态行走的航天服关节技术研究进展

Research Progress of Spacesuit Joint Technology Based on Gait Walking

基于步态行走的先进航天服是面向地外探测任务的主要防护系统。结合地外探测任务的需求分析,回顾了航天服关节技术发展历程。在此基础上,总结了平地行走、慢跑等9种航天服下肢典型动作,以及适用于步态行走的运动学和动力学分析方法。针对典型动作的复杂程度,归纳了不同的腰、髋、膝、踝等关节自由度配置和结构设计方案。最后,提出了短期可能实现的腰轴承、髋关节等重点研究内容,为未来航天服活动关节设计提供参考。

The advanced spacesuit based on gait walking is the main protection system for extraterrestrial exploration missions.This paper reviews the development of space joint joint technology in combination with the demand analysis of extraterrestrial exploration missions.On this basis,nine typical movements of the lower limb such as walking on the ground and jogging are summarized,as well as the kinematics and dynamics analysis methods suitable for gait walking.According to the complexity of typical movements,different joint degree configuration and structural design schemes of waist,hip,knee and ankle are proposed.Finally,the key research contents of the lumbar bearing and hip joint that may be realized in the short-term are proposed,which will provide reference for the joint design of the space suit in the future.