SPACE CRAWLING ROBOT FEET ADHESION MECHANISM RESEARCH BASED ON DISCRETE ELEMENT METHOD
YILIN SU
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P.R. China.
XUYAN HOU *
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P.R. China.
KAILIANG ZHANG
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P.R. China.
ZHAOJI YU
Beijing Institute of Spacecraft Environment Engineering, Beijing 100094, P.R. China.
LONG LI
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, P.R. China.
TAO CHEN
Jiangsu Provincial Key Laboratory of Advanced Robotics and Collaborative Innovation Center of Suzhou Nano Science and Technology, Soochow University, Soochow 215123, P.R. China.
LINING SUN
Jiangsu Provincial Key Laboratory of Advanced Robotics and Collaborative Innovation Center of Suzhou Nano Science and Technology, Soochow University, Soochow 215123, P.R. China.
*Author to whom correspondence should be addressed.
Abstract
According to the on-orbit servicing requirements of space cooperative spacecraft, a new type of space crawling robot was proposed. The robot feet were designed into micro array structure that based on the bionics principle and reference the micro structure on feet of Gecko. Based on the theory of interface micro mechanics and tribology, using discrete element software to establish the simulation model. Modeling analysis the gecko’s adhesive ability and the rapid stripping ability. Establish a mechanical model of single seta in different conditions. Simulate the adhesion and stripping process of the seta in different angle. Analysis the adhesive property of a single seta. The simulation results demonstrate that using different ways of movement can achieve different adhesive ability of single seta.
Keywords: Hertz contact theory, micro-structure analysis, crawling robot, discrete element method