机器人2025，Vol.47Issue(6)：765-773,880,10.DOI:10.13973/j.cnki.robot.250080
小天体探测机器人表面附着装置设计与验证
Design and Verification of Surface Gripping Device for Small Celestial Body Exploration Robot
曾磊 1赵志军 1曾福明 1王琨 2贾山 3全齐全 4刘鑫 1满剑锋1
作者信息
- 1. 北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室,北京 100094
- 2. 天津航天机电设备研究所,天津 300458
- 3. 南京航空航天大学航天学院,江苏南京 211106
- 4. 哈尔滨工业大学机器人技术与系统全国重点实验室,黑龙江哈尔滨 150001
- 折叠
摘要
Abstract
Due to the weak gravity and the complex geological morphological characteristics of small celestial bodies,attachment and fixation become an important prerequisite for exploration robots in exploration tasks.So,a multi-toed mi-crospine gripping device assembled in the end of exploration robot is proposed,which can hook into the small celestial body surface by toe microspines,and provide fixation by the joint action of multiple independent and non-interfering toes.The device has a strong adaptability in wide range of landforms by analysis and verification through ground tests,and the result provides reference and engineering guidance for the surface attachment and fixation of small celestial body exploration robot.关键词
小天体/探测机器人/表面附着固定Key words
small celestial body/exploration robot/surface attachment and fixation引用本文复制引用
曾磊,赵志军,曾福明,王琨,贾山,全齐全,刘鑫,满剑锋..小天体探测机器人表面附着装置设计与验证[J].机器人,2025,47(6):765-773,880,10.
