空间黏附爬行机器人足端预压力优化与控制

基于仿生干黏附材料的空间足式爬行机器人可附着于航天器外表面并代替宇航员完成舱外巡检、维护等工作，是无人自主化在轨服务与维护的有效途径。为保证足式爬行机器人与航天器的稳定附着，本文针对空间爬行机器人足端在与航天器接触时预压力对黏附稳定性影响的问题，提出一种足端预压力优化与控制方法。首先结合仿生黏附材料特性，建立黏附材料在预压阶段和黏附阶段的稳定性约束；其次在稳定性约束下基于二次规划方法优化足端力，保证预压力足够的同时减小对其他足的脱附力；最后通过基于环境刚度辨识的导纳控制实现优化后的力分配。结果表明：基于环境刚度辨识的导纳控制可实现预压力的柔顺控制，优化后的预压力可减小对其他黏附足的法向脱附力的影响，保证黏附爬行稳定性。

Preload Force Optimization and Control for Space Bio-Inspired Adhesive Climbing Legged Robot

The space climbing legged robot based on Bio-inspired adhesive materials can be attached to the surface of the spacecraft and replace astronauts to complete extravehicular inspections, maintenance and other tasks, which is an effective way for unmanned in-orbit service and maintenance. The stable adhesion of robots and spacecraft is the premise of the work. In this paper, an optimization and control method of foot preload force is proposed to solve the problem of the influence of foot preload force on the adhesion stability of space climbing robots when it is in contact with spacecraft. Firstly, based on the characteristics of Bio-inspired adhesive materials, the stability constraints of the adhesive materials in the preloading stage and the adhesion stage are established. Secondly, the foot end force is optimized based on the quadratic programming under the constraints to ensure sufficient preload force and reduce the detached force on other feet. Finally, the optimized force distribution is realized through the admittance control based on the environmental stiffness identification. The results show that the admittance control can achieve the compliant control of the preload force, and the optimized preload force can reduce the normal desorption force of other adherent feet, and ensure the climbing stability of adhesion.