软性抓取系统让机器人在崎岖太空地形稳定攀爬
Soft Gripping System for Space Exploration Legged Robots
- 用分段肌腱驱动手指贴合不规则岩石表面
- 微刺结构增强抓握力，最大承重达15倍自身重量
- 适合月球洞穴、小行星表面等复杂环境探索
尽管轮式机器人在行星探测中占主导地位，但其几何结构在陡坡、岩石地形和微重力环境下能力受限。配备抓取装置的腿式机器人是克服这些障碍的可行替代方案。本文提出一种抓取系统，可使腿式太空探测机器人在不平坦的岩石地形上获得可靠锚定。该抓取器利用分段肌腱驱动手指实现软性抓握，自适应目标形状，并借助微刺结构在岩石表面产生强附着力。通过多项实验展示了拉力角度、目标形状、微刺配置和驱动功率对抓取性能的影响。结果表明，该抓取器可作为先进太空探测的合适解决方案，适用于攀爬、月球洞穴探测或小行星表面探索。
原文摘要 · Abstract (English)
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a viable alternative to overcome these obstacles. This paper proposes a gripping system that can provide legged space-explorer robots a reliable anchor on uneven rocky terrain. This gripper provides the benefits of soft gripping technology by using segmented tendon-driven fingers to adapt to the target shape, and creates a strong adhesion to rocky surfaces with the help of microspines. The gripping performances are showcased, and multiple experiments demonstrate the impact of the pulling angle, target shape, spine configuration, and actuation power on the performances. The results show that the proposed gripper can be a suitable solution for advanced space exploration, including climbing, lunar caves, or exploration of the surface of asteroids.
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