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失重环境下固体间的稳定接触是空间站舱内外航天员作业、在轨维修、空间碎片捕获等任务面临的共性问题,基于范德华力机制的刚毛黏附材料为解决上述问题提供了可能.本文介绍使用仿生高分子黏附结构研制仿壁虎机器人脚掌所面临的问题.用仿壁虎腿机构构成的黏附性能试验台,研究了黏附脚掌的刚度、尺寸和黏附轨迹与黏附力、实际接触面积间的关系,确定了脚掌黏附过程的稳定边界.用重力补偿法模拟整体失重环境,设计了脚掌黏脱附轨迹并实现了仿壁虎机器人在整体失重情况下的稳定黏附运动,为在轨微重力环境下仿壁虎机器人的黏附运动提供了基础数据.
Under the environment of heavy weight, the stable contact between solids is a common problem faced by missions such as astronauts in and out of space station, in-orbit maintenance, space debris capture, etc. The adhesive material of bristles based on van der Waals forces mechanism may provide the solution to the above problems. Macromolecular adhesion structure to develop the gecko robot’s soles.The problems of the gecko robot’s soles were studied.The relationship between the stiffness, size, sticking trajectory, adhesion and the actual contact area of the sticking feet was studied by using the geogrid bench made of gecko and leg. The stable boundary of the process of the adhesion of the soles of the feet.The gravity-compensated method was used to simulate the whole weightlessness environment, the trajectory of the sticking and detaching of the soles was designed and the stable adhesion movement of the gecko-like robot under the condition of total weight loss was achieved, Adhesion movement provides the basic data.