Journal Article

Bionic Robot with Multifunctional Leg–Arm Mechanism for In-Orbit Assembly of Space Trusses

Wang, Weijun, Shi, Yuetian, Zhang, Meiyang, Xu, Qingzhang, Deng, Zongquan, Liu, Haohang, Shi, Rui, Hou, Xuyan

2024

Overview

This article aims to address the in-orbit assembly needs of truss structures in space missions by designing a robot capable of moving on trusses and manipulating parts. To enhance the stability of the robot during movement and part manipulation, inspiration was drawn from the Dynastes Hercules beetle. Building upon detailed research on the Dynastes Hercules beetle, a biomimetic structure was designed for the robot system. Based on specific task requirements, the overall plan of the robot was developed, and its kinematic and dynamic models were derived. A prototype of the robot was created, which is capable of both movement and assembly functions, including handling spherical and rod-like objects. Through a series of experiments conducted with the robot, the research results demonstrated that the proposed design can effectively achieve the intended functions.

• Publisher: MDPI AG,MDPI
• Subject: Adaptability / Arm / Biomimetics / bionic legged robot / Bionics / Design / Design and construction / Dynastes Hercules beetle tarsus / Engineering research / Flexibility / in-orbit assembly of space truss structures / Legs / Maintenance and repair / Mechanical properties / overall–local dynamic model / Robotics / Robots / Robots, Industrial / Space frame structures / Space stations / Space telescopes