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	A Novel Exterior Climbing Robot Design for Space Station
	Chengjiang Wang; Yongquan Chen; Meng Chen; Liangliang Han; Huihuan Qian; Yangsheng Xu
	2013
会议名称	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
会议地点	Shenzhen, China
英文摘要	This paper proposed a biologically inpired handrail climbing robot "MonkeyBot" that could provide inspection and maintenance for the space station. Space debris is the biggest hazards for space station from the outer space. When a threat from orbital derbis is idenfitied a bit late, the station will be potentially damaged by the debris. MonkeyBot is designed to meet this challenge, especially for some key components or areas on the space station. MonkeyBot is a redundancy robot with four limbs, which not only has multi climbing strategies and gaits to achieve a full coverage of the space module, but also it has dexterous capability for on-orbit servicing with each limb. This paper will focus on the geometry design, mathematical modeling, workspace and dexterity analysis and climbing strategies and climbing gaits evaluation. The analysis result shows that the maneuverability surpasses the state of art space station exterior robot.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/4623]
专题	深圳先进技术研究院_集成所
作者单位	2013
推荐引用方式 GB/T 7714	Chengjiang Wang,Yongquan Chen,Meng Chen,et al. A Novel Exterior Climbing Robot Design for Space Station[C]. 见:2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. Shenzhen, China.

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