The invention relates to a dexterous lunar surface operation robot, which belongs to the technical field of aerospace/the field of lunar exploration, and comprises a specially designed mobile lifting system, a mechanical arm operation system, a navigation control system, a communication system, an energy system and a thermal control system, the mode that a foldable suspension supports local lifting of the additional platform is preferably adopted, meanwhile, the scheme that a large mechanical arm and a small mechanical arm are matched for cooperation and a tail end tool can be replaced is preferably adopted, the task operation space is expanded, the task operation height requirement is met, energy is saved, and the problem that in the prior art, the size and the weight cannot be considered at the same time is solved. And the method can adapt to different task scenes so as to solve the problem that in the prior art, the quality and the operation freedom degree cannot be considered at the same time, the operation freedom degree is met, meanwhile, the task reliability is considered, and most tasks can still be completed under the single-arm fault condition.

    本发明涉及一种月面灵巧作业机器人,属于航空航天技术领域/月球探测领域,本发明月面灵巧作业机器人包括特殊设计的移动升降系统,机械臂作业系统、导航控制系统、通信系统、能源系统和热控系统,优选采用可折展悬架支撑附加平台局部升降的方式,同时优选采用大小机械臂配合的双臂协同以及末端工具可更换的方案,既拓展了任务操作空间,满足任务操作高度要求,又节约能量,解决现有技术中尺寸和重量无法兼顾的问题;并且可适应不同任务场景,以解决现有技术中质量和作业自由度无法兼顾的问题,既满足了操作自由度,同时兼顾了任务可靠性,单臂故障情况下仍能够完成大多数任务。


    Access

    Download


    Export, share and cite



    Title :

    Robot for dexterous operation on lunar surface


    Additional title:

    一种月面灵巧作业机器人


    Contributors:
    YAN NING (author) / WANG XIAOWEI (author) / YANG WEI (author) / ZHANG SHENGSHENG (author) / KONG LINGCHAO (author) / ZHANG LIU (author) / CHEN CHUNYAN (author) / LIU BINGLI (author) / HAO YUXING (author) / AI LIQIANG (author)

    Publication date :

    2025-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B64G Raumfahrt , COSMONAUTICS



    Proximity Sensors Make Robot Dexterous

    Hess, Cliff / Li, Larry C. H. | NTRS | 1990


    NASA's first dexterous space robot

    Mccain, Harry G. | NTRS | 1990


    Dexterous mechanisms for robot locomotion

    Umesh, K.N. | Online Contents | 1998


    Dexterous workspace analysis of surgical robot

    Da, L. / Tianmiao, W. | British Library Online Contents | 2007


    Dexterous underwater robot hand: HEU Hand II

    Meng, Qingxin / Hua Wang / Ping Li et al. | Tema Archive | 2006