摘要
以巨型空间太阳能电站、长基线天基光学装置为代表的大型空间结构具有重要应用价值,其在轨建造和维护是航天领域的难题。大型空间结构爬行机器人无需消耗燃料且能覆盖较广的工作区间,是高效率、低成本实施大型空间结构建造维护的关键使能技术。本文对空间结构爬行机器人近期研究工作进行梳理和总结,探讨该领域的关键技术、核心挑战与未来方向。从总体技术角度,介绍空间结构爬行机器人的国内外代表性总体方案设计和原理样机研制进展情况。对典型附着技术与移动方式的优缺点进行了对比,从增强服役可靠性的角度讨论了空间环境适应性设计。针对各类爬行机器人设计方案,分析了现有步态及运动规划研究的现状和不足,讨论了空间爬行机器人动力学建模与运动控制面临的挑战与进展。在探讨相关科学问题和关键技术难点的基础上,对一些值得关注的研究方向进行了展望。
Large-scale space structures(LSSS),such as giant space solar power stations and long-baseline space-based optical instruments,hold significant application value;however,their on-orbit construction and maintenance represent formidable challenges in the aerospace field.As a key enabling technology for the high-efficiency and low-cost implementation of these tasks,LSSS climbing robots offer distinct advantages by operating without propellant consumption while covering extensive workspaces.This paper reviews and summarizes recent research on space structure climbing robots,exploring the key technologies,core challenges,and future directions in this field.To this end,the paper first introduces representative design schemes and the development progress of principle prototypes from both domestic and international efforts,viewed from an overall technology perspective.Subsequently,it provides a comparison of the advantages and disadvantages of typical adhesion technologies and locomotion modes,and discusses the design for adaptability to the space environment from the perspective of enhancing the robot's in-service reliability.In addition,focusing on various climbing robot design schemes,this paper analyzes the current status and limitations of research in gait and motion planning.It also discusses the challenges and progress in the dynamics modeling and motion control of space climbing robots.Finally,based on a discussion of the relevant scientific problems and key technical difficulties,this paper provides an outlook on several future research directions worthy of attention.
作者
文浩
陈小龙
李静波
孙浩
孙加亮
陈提
WEN Hao;CHEN Xiaolong;LI Jingbo;SUN Hao;SUN Jialiang;CHEN Ti(State Key Laboratory of Mechanics and Control for Aerospace Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《振动工程学报》
北大核心
2025年第12期2902-2921,共20页
Journal of Vibration Engineering
基金
国家自然科学基金资助项目(12272166,12494562)
江苏省科研与实践创新计划(KYCX23_0350)。
关键词
大型空间结构
空间爬行机器人
附着爬行
刚柔耦合动力学
运动规划与控制
large-scale space structure
space climbing robot
adhesive climbing
rigid-flexible coupling dynamics
motion planning and control
