Research On Adhesion Charateristics Of Climbing Robot Feet With Microarray Structure Based On Discrete Element Method

With the development of space detection technology,space load is moving towards the large-scale,complex and intelligent direction,the limitations of robot arm technology is reflected gradually.Load control technology with higher flexibility and mobility came into being.The space miniature-climbing robot performs on-orbit control tasks such as fault repair and waste removal by crawling through the robotic arm and adhering to the target spacecraft.In this paper,the adhesion characteristics of space climbing robot are studied,an adhesion microarray structure is proposed,and the adhesion characteristics based on discrete element method is studied.Combined with the spatial environment,the microstructure design of adhesive feet for mission objective is modified based on the bionic principle.A flexible microstructure simulation model is established by particle cohesion method based on the discrete element simulation platform EDEM.The simulation analysis of the dynamic desorption process of the adhesive microarray is carried out,which provides a platform for revealing the mechanism of adhesion.On the basis of the horizontal desorption and vertical desorption of microarray simulation model,combined with the existing research basis,20 sets of simulation working condition with different structural parameters are set up according to the Moore matrix method.The effects of structural parameters such as diameter,length and density on the adhesion of microarray are studied,which provides support for the optimization design of microarray structure.In order to achieve faster desorption reliably,and explore the effect of the motion of the microarray on the stability of the robot during the desorption process,the simulation study on the adhesion characteristics of microarray are carried out.The effects of desorption angle,desorption velocity and desorption angular velocity on the microarray are obtained,which provides the basis for the motion control and gait planning of the robot.The microarray test sample is processed by Inductively Coupled Plasma(ICP)technology,and the tangential adhesive force is tested in the ground environment.The results show that the tangential adhesion decreases with increasing spacing and increases with increasing diameter.The above rules are consistent with the simulation results,which verifies the correctness of simulation in desorption process and the rationality of the microarray structure optimization design.