Bio-inspired Attachment Mechanism of Dynastes Hercules:Vertical Climbing for On-Orbit Assembly Legged Robots
作者机构：School of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2024年第21卷第1期
页 面：137-148页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0811[工学-控制科学与工程]
基 金：supported in part by the National Nature Science Foundation of China[No.62073229] Jiangsu Policy Guidance Program(International Science and Technology Cooperation)The Belt and Road Initiative Innovative Cooperation Projects(No.BZ2021016) EDL fund of Beijing Institute of Space Mechanics and Electricity(Grant No.EDL19092127)
主 题：Space assembly robot Truss climbing Bionic structure Dynastes Hercules tarsus
摘 要：With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of *** paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of *** by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the *** morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability *** study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through *** propose an ideal climbing strategy that provides useful reference for robot applications in ***,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space *** bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.
维普期刊数据库