仿壁虎机器人足端三维力采集系统研究

在微重力环境下仿壁虎机器人在"着陆"到目标航天器表面时,将会受到较大的碰撞力,影响机器人稳定着陆粘附。针对以上问题,仿生设计了机器人的足端结构,在机器人足端装载三维力传感器;该力采集系统基于STM32和AD620芯片,设计了三维力采集系统硬件和软件;并对三维力传感器进行静态标定和解耦。实验开展了机器人脚掌的碰撞粘附力测试,达到了预期效果,能为实现微重力下仿壁虎机器人稳定粘附着陆,提供力反馈控制的硬件保障。

Study of Acquisition System for Gecko Robot's Three-dimensional Force in the Foot

Gecko robot will suffer large impact force during its "landing" toward the surface of targeted spacecraft in the microgravity environment. In this research, we bionic designed the structure of robot''s foot end in which three-dimensional force sensor was loaded. The signal acquisition system for force was based on STM32 and AD620 chipset. We also designed hardware and software for acquisition system of three-dimensional force. Then we carried out static calibration and decoupling for three-dimensional force sensor. We tested the collision adhesion of robot''s soles and realized desired effect. Our research can provide guarantee of hardware for control of force feedback, which will help bionic gecko robot to realized stable adhesion landing in the microgravity environment.