微重力下仿壁虎机器人调姿-着陆的仿生机理研究

The operation mode of space robotic arm has some problems， such as large mass, having dead zone when moving, mounting track with truss structure, existing complex coupling dynamics in operating and so on. Development of miniaturized, portable detection functional new On-Orbit Servicing robots in space has important scientific significance and research value. This project regarded the gecko as bionic object to observe the posture adjustment in the air and the exercise behavior of during the process of stable landing, established the multi-body dynamics and adhesion collision dynamics model, and researched the Self-regulation stance in the air and coordinated movement law of the body during landing of gecko. This project used neural network self-learning algorithm that is biologically inspired to achieve attitude adjustment and landing with bionic self-learning control of gecko robot under microgravity, to reveal the inherent mechanism of self-regulation stance in the air and coordinated movement of the body during landing of gecko. Developing gecko robot prototype under microgravity provides new ideas for the development of On-Orbit Servicing robot, and the research on related scientific issues can achieve the international leader results, which has important guiding significance to the development of high-performance space robot.

空间机械手臂的操作模式具有质量大、运动有死区、需安装桁架结构轨道、作业过程存在复杂的耦合动力学问题。研制小型化、具有可移动式检测功能的新型空间在轨服务机器人，具有重要的科学意义和研究价值。本项目以大壁虎为仿生对象，观测壁虎空中姿态调整和稳定着陆过程中的运动行为，建立壁虎的多体动力学及碰撞粘附动力学模型，研究壁虎空中姿态自调控和着陆时身体协调运动规律。采用受生物启发的神经网络自学习算法，实现微重力下仿壁虎机器人调姿-着陆的仿生自学习控制，揭示大壁虎空中姿态自调控和着陆时身体协调运动的内在机理。研制微重力下仿壁虎机器人原理样机，为新型空间在轨服务机器人的研制提供新的思路，相关科学问题的研究可取得国际领先成果，对高性能空间机器人研究有着重要指导意义。

本项目以大壁虎为仿生对象，观测壁虎空中姿态调整和稳定着陆过程中的运动行为，建立壁虎的多体动力学及碰撞粘附动力学模型，研究壁虎空中姿态自调控和着陆时身体协调运动规律。基于大壁虎的运动特性，仿生设计壁虎主动粘/脱附脚掌和尾巴。分析和测试了干粘附材料（PVS）粘附性能，建立了粘附模型，并应用于仿壁虎机器人粘附着陆实验中。开展了仿壁虎机器人控制系统设计，研制了面向调姿和着陆实验的多台仿壁虎机器人原理样机。采用自适应控制算法，实现微重力下仿壁虎机器人调姿-着陆的自适应控制，验证和揭示了大壁虎空中姿态自调控和着陆时身体协调运动的内在机理。研制微重力下仿壁虎机器人原理样机，为新型空间在轨服务机器人的研制提供新的思路，相关科学问题的研究对高性能空间机器人研制有着重要指导意义。