受壁虎启发的机器人使用新型可变刚度粘合剂爪,可在微重力条件下在粗糙/光滑表面上攀爬

IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-22 DOI:10.1002/aisy.202400043
Zhiwei Yu, Xiaofeng Xu, Benhua Zhao, Jiahui Fu, Linfeng Wang, Zhouyi Wang, Chengguang Fan, Simon X. Yang, Aihong Ji
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引用次数: 0

摘要

太空爬壁机器人面临着在航天器表面稳定附着和移动的挑战,这些表面包括光滑的平面区域和粗糙复杂的表面。虽然基于粘附力的爬壁机器人在外太空光滑表面上表现出稳定的爬行能力,但在微重力环境下粗糙表面上的稳定粘附力研究却很少。受壁虎的粘附机制和运动方式启发,我们开发了一种新型粘附材料。这种材料在各种材料和表面粗糙度上都表现出卓越的粘附性。受壁虎启发而设计的可变刚度爪可产生巨大的粘附力,同时将脱离力降至最低。令人印象深刻的是,这种爪子能在光滑表面上产生高达 180 牛顿的粘附力,并在没有外力的情况下实现脱离。通过将这种可变刚度的爪子与爬墙机器人集成,一个受壁虎启发的机器人就诞生了,它可以在微重力环境下有效地工作。利用模拟微重力环境和卫星模型进行了机器人卫星表面攀爬实验和机器人卫星捕获实验。实验结果清楚地表明,受壁虎启发的机器人能够熟练地执行各种功能,包括在微重力环境中的光滑和粗糙航天器表面上稳定运动和捕捉。这些实验强调了基于附着力的壁虎启发机器人在在轨服务以及航天器捕获和回收方面的潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

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A Gecko-Inspired Robot Using Novel Variable-Stiffness Adhesive Paw Can Climb on Rough/Smooth Surfaces in Microgravity

Space-wall-climbing robots face the challenge of stably attaching to and moving on spacecraft surfaces, which include smooth flat areas and rough intricate surfaces. Although adhesion-based wall-climbing robots demonstrate stable climbing on smooth surfaces in outer space, there is scarce research on their stable adhesion on rough surfaces within a microgravity environment. A novel adhesive material is developed inspired by the adhesion mechanism and locomotion of the Gekko gecko. This material exhibits exceptional adhesion across various materials and surface roughness. A variable-stiffness gecko-inspired paw is engineered, generating substantial adhesion forces while minimizing detachment forces. Impressively, this paw generates up to 180 N of adhesion force on smooth surfaces and achieves detachment without external forces. By integrating such variable-stiffness paws with a wall-climbing robot, a gecko-inspired robot effectively operating in a microgravity environment is created. The robotic satellite surface climbing experiments and robotic satellite capture experiments are conducted using a simulated microgravity environment and a satellite model. The results unequivocally demonstrate the gecko-inspired robot's proficiency in executing various functions, including stable motion and capture on both smooth and rough spacecraft surfaces within a microgravity environment. These experiments underscore the potential of adhesion-based gecko-inspired robots for in-orbit services and spacecraft capture and recovery.

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1.30
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审稿时长
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