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Attitude control and landing experiment system and method of gecko-like space robot

A space robot and experimental system technology, which is applied in the field of gecko-like space robot attitude control and landing experiment system, can solve the problem that the research of gecko-like space robot has not been reported, and achieves the improvement of robot motion experiment efficiency, strong system integration, and motion. clear effect

Active Publication Date: 2017-03-29
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The current space on-orbit robot is mainly based on the space manipulator, and many ground simulation microgravity experiments use the above method, but the research on gecko-like space robots has not yet been reported

Method used

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  • Attitude control and landing experiment system and method of gecko-like space robot

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Embodiment Construction

[0023] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments:

[0024] Combine figure 1 , This embodiment is a gecko-like space robot attitude control and landing experimental system and method, including a three-dimensional force sensor array 1 and a rotating landing plate 2; a landing plate rotating drive motor 3, a support frame base 4, and an X-direction support beam 5. Sliding beam 6, Y-direction high-speed camera 7, fixed pulley 8, light source 9, string 10, counterweight 11, imitation gecko space robot body 12, attitude sensor 13, tail rotating motor 14, tail 15, X-direction high-speed camera 16 , X-direction tripod 17, computer control terminal 18, force sensor data acquisition system 19, wireless data transmission module 20, Z-direction high-speed camera 21, Z-direction tripod 22.

[0025] Such as figure 1 As shown, the described gecko-like space robot attitude control and landing experimental system is ...

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Abstract

The invention discloses a system and method of regulation and control of postures and landing experiments for a space robot simulating a gecko, and belongs to the field of robots. The system mainly comprises a rotary landing panel (2), three-dimensional force-sensor array (1) distributed on the rotary landing panel, a robot imitating the gecko, high-speed video cameras, a computer control terminal (18), a force-sensor data acquisition system (19), and a wireless data transmission module (20). Through the system and method disclosed by the invention, the regulated and controlled postures, and the landing experiments of the space robot can be effectively simulated under the microgravity environment, and a novel method for the experiments of posture control and landing collision of the space robot is provided.

Description

Technical field [0001] The invention belongs to the field of robot technology application, and specifically relates to an experimental system and method for posture control and landing of a gecko-like space robot. Background technique [0002] Since the Soviet Union launched its first artificial satellite in 1956, human life has increasingly benefited from the development of space technology. Aerospace technology has profoundly changed the lives of human beings, representing national scientific and technological strength and comprehensive national strength. At the same time, it is related to national economic interests and national defense security, and it also affects the concept of space security of all countries in the world. The frontier areas of aerospace technology include on-orbit services, deep space exploration, etc., among which on-orbit services refer to the completion of space operations for spacecraft fault repair, life extension, and mission performance enhancement ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/02G05B23/02G08C17/02B64G7/00
Inventor 俞志伟戴振东杨斌吉爱红汪中原
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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