With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on diffe...With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.展开更多
Space deployable antennas are extensively utilized in space-based communication,deep space exploration,and earth observation.As the demands for capacity and data transmission rates in human space-based communi-cation ...Space deployable antennas are extensively utilized in space-based communication,deep space exploration,and earth observation.As the demands for capacity and data transmission rates in human space-based communi-cation continue to rise,the requirement for larger antenna apertures becomes increasingly critical.Traditional single-deployable structures are insufficient to meet these aperture requirements.On-orbit assembled antennas present a viable solution to the challenges associated with folding,transportation,and deployment of large structures,thereby overcoming the aperture limitations inherent in conventional designs.This innovation is particularly pertinent for large aperture space antennas required in space-based communication and related fields.The ability to adjust modules is a foundational aspect of realizing on-orbit assembly antennas.This paper provides a comprehensive review of the current research on module adjustment in space on-orbit assembly antennas.Initially,the existing research landscape of space on-orbit assembly antennas is outlined.Subsequently,the progress made in module adjustment is categorized into two main approaches:inter-module adjustment and self-adjustment of modules.The paper also examines various actuators that can serve as critical components in the design of module adjustment systems.Building upon this analysis,key technologies essential for effective module adjustment are summarized,and future development trends in this area are proposed.展开更多
基金supported in part by the National Nature Science Foundation of China[No.62073229]Jiangsu Policy Guidance Program(International Science and Technology Cooperation)The Belt and Road Initiative Innovative Cooperation Projects(No.BZ2021016)EDL fund of Beijing Institute of Space Mechanics and Electricity(Grant No.EDL19092127).
文摘With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.
文摘Space deployable antennas are extensively utilized in space-based communication,deep space exploration,and earth observation.As the demands for capacity and data transmission rates in human space-based communi-cation continue to rise,the requirement for larger antenna apertures becomes increasingly critical.Traditional single-deployable structures are insufficient to meet these aperture requirements.On-orbit assembled antennas present a viable solution to the challenges associated with folding,transportation,and deployment of large structures,thereby overcoming the aperture limitations inherent in conventional designs.This innovation is particularly pertinent for large aperture space antennas required in space-based communication and related fields.The ability to adjust modules is a foundational aspect of realizing on-orbit assembly antennas.This paper provides a comprehensive review of the current research on module adjustment in space on-orbit assembly antennas.Initially,the existing research landscape of space on-orbit assembly antennas is outlined.Subsequently,the progress made in module adjustment is categorized into two main approaches:inter-module adjustment and self-adjustment of modules.The paper also examines various actuators that can serve as critical components in the design of module adjustment systems.Building upon this analysis,key technologies essential for effective module adjustment are summarized,and future development trends in this area are proposed.
