关键词: 在轨服务, 微小卫星, 空间机器人, 步态设计

Abstract: In order to solve the problem of high cost of satellite repair or reproduction caused by high frequency and variety of artificial satellite faults in space, an on orbit service tripod robot system is proposed, which is attached and moved on the satellite by bionic claws and dry adhesion and can repair most of the satellite faults via relying on the various load mechanisms carried by itself. This system contains the design of the body structure, the five degree of freedom manipulator, the paw stab foot and a variety of terminal loads, and also gives the working angle range and working space size of the tripod robot manipulator. Through the analysis of various complex road conditions, four gaits of the tripod robot are determined, designed and simulated. Finally, the optimal control algorithm based on circulating neural networks is proposed. The three dimensional model is established by Solidworks, and the joint simulation of WALK gait is completed by Matlab and Adams software. The joint motion of the manipulator and the end load is simulated. The working torque of each joint and the quality displacement of the robot are measured and analyzed. The results show that the designed tripod robot system meets the corresponding index requirements.

Key words: on orbit service, microsatellite, space robot, gait design