Research On Posture Control And Landing Collision Of Space Gecko Robot

There are several problems such as large mass,dead zone in moving,path with truss structure in need,existing complex coupling dynamics in the operation mode of space robotic arm.It has great scientific significance and research value to develop miniaturized and on-orbit service space robots with portable detection function.A space gecko robot as the research object is presented in this paper.We design a novel bionic foot of gecko robot which contribute to increase the adaptability of the space gecko robot in the external environment.The kinematics analysis of single leg of the robot is studied,and the correctness of the forward / inverse solution is verified by MATLAB simulation calculation.The control system of space gecko robot is designed,including with a gesture,ranging,force sensor signal acquisition and robot joint motion control function.It has the characteristics of high real-time,strong computing ability,large storage capacity and miniaturization,which is meeting the design requirements of space gecko robot.The mathematic model and algorithm of the attitude control of the space gecko robot are established,and the inertia of the robot and the external disturbance are estimated.The feasibility of the attitude control of the space gecko robot through the tail is verified in the simulation of microgravity experiment by hanging method.The performance test of bionic gecko dry adhesive material is carried out,and the dynamic problems of the space gecko robot in the collision process are studied.The collision experiments in a variety of cases are carried out,and the force feedback control which based on the force sensor,can contribute the space gecko robot to adhere to the target surface stability in landing collision.