Design And Research Of A Non-cooperative Space Buffer Adsorption Mechanism Based On Bionic Locust Legs

In the field of space robots,the difficulty of how to attach a high-speed robot to a non-cooperative target spacecraft is attracting more and more attention.Because the space robot flies at high speed in the space micro-gravity environment,the moment it contacts with the non-cooperative spacecraft,a huge collision force will be generated,which will cause the robot to be bounced off quickly,so that it cannot be attached to the spacecraft smoothly.Therefore,it is urgent to apply buffer adsorption technology in space.At the same time,the traditional mechanical design has been unable to meet the increasingly in-depth needs of deep space exploration,and with the growing maturity of bionic robot,the application of bionic mechanism in the space environment is the future trend of deep space exploration.Therefore,this paper hopes to develop a high-reliability space buffer adsorption mechanism to reduce the collision force in the buffer process,assist in the buffer landing of non-cooperative spacecraft,and verify its effectiveness by combining with ground experiments.Firstly,the physiological structure and movement characteristics of locusts were introduced in this paper.Taking the hind legs of locusts as the design inspiration,combined with the functional requirements and design principles of the space buffer adsorption mechanism,a space buffer mechanism schematic diagram of the bionic locust legs was constructed by bionic mapping.Then the shape of the bearing platform and the number of legs of the mechanism were determined by the stability margin modeling.Then,the leg structure of the mechanism was designed in detail according to the functional requirements.Finally,a space buffer adsorption mechanism simulating the legs of locusts was obtained.Secondly,the kinematics of the space buffer adsorption mechanism was modeled and verified by simulation,and the optimal working space size of its legs was obtained.Then the dynamics and contact collision force of the space buffer adsorption mechanism were modeled,and the collision force equation was derived.Then the buffer process of the space buffer adsorption mechanism was deduced and solved based on the principle of virtual power,and the dynamic model of the buffer process was finally obtained.Then,the key buffer parameters of the space buffer adsorption mechanism were designed.The buffer mechanism was equivalent to a linear spring damping structure,and the collision dynamics model was established.Combined with the dynamic characteristics of the mechanism,the stiffness and damping coefficients of the torsional spring of the mechanism were obtained.Then through the experiment of different parameters,the simulation verifies the rationality and correctness of the obtained buffer parameters,and provides a theoretical basis for the processing of the principle prototype.Finally,the ground collision adhesion experimental system is built,and the system is introduced,and the experimental results are preanalyzed,and the experimental scheme is designed.Then,the prototype was collided with different contact surfaces at different contact speeds.The actual impact force of the buffer mechanism was obtained by the upper computer,which was far less than the theoretical impact force,and nearly equal to the mathematical model,which verified the correctness of the contact impact model derivation.Through Monte Carlo statistics theory,the adhesion success rate of the buffer mechanism is as high as 98%,which verifies the rationality of the design and reliability of the use of the buffer mechanism.