Research on the Key Technology of Crawler Robot Orbiting on Space Solar Power Station

Aiming at the feature that the space solar power station is assembled on the orbit by the film-truss module, a foot-type robot crawling on the surface of the film and the truss is proposed. The robotic system consists of a platform with operating tools, a piezo-driven multi-joint leg, and a microstructure-modified attachment. On this basis, based on the bionics theory, the biological foot-end microstructure with high climbing ability in nature was analyzed and simulated. Combined with the rod-like structure of truss and the flexible structure of the film, the robot micro-structure modified foot Study on the Characteristics of Adhesion. The discrete element-multibody dynamic simulation platform is used to simulate the crawling process of the robot on the truss structure and the thin film structure, which provides the basis for the motion control of the crawling robot. Through the above research, it is verified that the crawling robotic system can realize the feasibility of in-orbit operation and assembly of the film-truss module and provide technical reserve for on-orbit assembly tasks of space solar power station.