生物启发的刚性-灵活合适应性兼容的机器人Gecko的运动控制,用于空间站
Xiangli Pei1, Shuhao Liu1, Anmin Wei1
1College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
Biomimetics (Basel, Switzerland)
|September 27, 2023
概括
这项研究介绍了一个带有混合动力驱动的机器人,用于空间站,具有适应性兼容的运动控制. 机器人实现了稳定的附着和合规的脱离,在微重力环境中增强了强度.
科学领域:
- 机器人学和生物模拟学
- 控制系统工程 控制系统工程
- 空间站技术 空间站技术
背景情况:
- 太空任务需要能够在微重力条件下稳定移动和操纵的机器人.
- 现有的机器人系统在动态的空间环境中经常在精确的附着和分离方面扎.
- 生物仿真方法为增强机器人的适应性提供了潜在的解决方案.
研究的目的:
- 开发和评估一个生物灵感的刚性-柔性合适应性合规的机器人的运动控制策略.
- 为了使机器人在微重力条件下具有稳定的附着和合规的脱离能力.
- 为了增强机器人壁对外部干扰和微重力诱导的不稳定性的强度.
主要方法:
- 一个生物模拟机器人的设计,具有刚性干,活跃的腿和气动灵活的脚.
- 实现具有实时力传感的自适应阻抗控制模型.
- 开发一个全身刚性-灵活性-反力合控制策略.
- 在微重力环境中进行实验,包括运动控制,抗干扰和可变刚度测试.
主要成果:
- 机器人虫展示了稳定的附着和符合脱离能力.
- 建议的控制策略有效地避免了正常冲击和微重力不稳定性.
- 该系统成功实现了位置和力追踪.
- 观察到对抗外部干扰的高强度.
结论:
- 生物灵感的刚性-灵活合适应性兼容的运动控制策略是有效的机器人在空间站.
- 开发的机器人在微重力条件下表现出卓越的性能,确保稳定的运动和相互作用.
- 这项研究有助于推进适应性机器人系统的发展,用于太空探索和维护.
相关概念视频
01:24One-Degree-of-Freedom System
506
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
506
01:22Planar Rigid-Body Motion
465
Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
465
01:30Three-Dimensional Force System:Problem Solving
686
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
686
01:22Mechanical Systems
225
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
225
01:29Relative Motion Analysis using Rotating Axes-Problem Solving
418
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
Here, in order to determine the magnitude of velocity and acceleration for point...
418
01:27Movement Joints in Buildings
139
Movement joints in buildings are essential design elements that accommodate inevitable motions caused by various factors such as temperature changes, moisture content variations, and structural deflections. These motions, if not considered in design and construction, can lead to unsightly or dangerous damage. Movement joints are incorporated in different forms to manage these stresses and allow materials to move without causing distress.
The simplest type of movement joints, working joints, are...
The simplest type of movement joints, working joints, are...
139