The invention discloses an adhesion robot capable of stably and smoothly landing, which comprises a robot body, a plurality of three-degree-of-freedom single legs arranged on the bottom side of the robot body, adhesion soles arranged at the tail ends of the three-degree-of-freedom single legs, and single leg sub-controllers, a main controller and a power battery which are respectively arranged on the robot body, the three-degree-of-freedom single legs are in one-to-one correspondence with the adhesion soles and the single-leg sub-controllers; the power battery is electrically connected with the three-degree-of-freedom single leg, the adhesive sole, the single-leg sub-controller and the main controller, and the single-leg sub-controller is in communication connection with the main controller and the corresponding three-degree-of-freedom single leg; the single-leg branch controller enables the three-degree-of-freedom single leg and the adhesion sole to move according to an instruction of the main controller, and walking and buffering landing of the robot are achieved. The adhesion sole serves as a first-stage buffer mechanism, the three-degree-of-freedom single leg serves as a second-stage buffer mechanism with adjustable rigidity and damping, the adhesion success rate and stability of the robot and the target spacecraft are improved through the combined action, and disturbance to the target spacecraft is effectively reduced.

    本发明公开了一种可稳定柔顺着陆的黏附机器人,包括:机身、若干设置在机身底侧的三自由度单腿、设置在三自由度单腿末端的黏附脚掌以及分别设置在机身上的单腿分控器、主控器和动力电池,三自由度单腿与黏附脚掌和单腿分控器一一对应;动力电池分别与三自由度单腿、黏附脚掌、单腿分控器和主控器电性连接,单腿分控器分别与主控器和对应的三自由度单腿通信连接;单腿分控器根据主控器的指令使三自由度单腿和黏附脚掌运动,实现机器人的行走和缓冲着陆。本发明的黏附脚掌作为一级缓冲机构,三自由度单腿作为刚度和阻尼均可调整的二级缓冲机构,其共同作用以提高机器人与目标航天器黏附成功率和稳定性,并有效降低对目标航天器的扰动。


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    Title :

    Adhesion robot capable of stably and smoothly landing


    Additional title:

    一种可稳定柔顺着陆的黏附机器人


    Contributors:
    PU WEI (author) / BAI JIALUO (author) / XUE MIAO (author) / ZHANG YIN (author) / XIAO YUHANG (author) / FENG JIABAO (author) / GAO PAN (author) / ZHONG YOU (author)

    Publication date :

    2023-10-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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