Mobility Mechanism of Micro Robot under Micro-Gravity

微重力下微型机器人的移动机构

• 批准号: 12450173
• 负责人: NAKATANI Ichiro
• 金额: $ 7.81万
• 依托单位: Institute o f Space and Astronautical Science
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-12450173/
• 关键词: Mobility Mechanism; Micro-Gravity Environment; Hopping Robot; Micro Gravity Experiment; Self-Positioning; Micro Robot; Torquer Actuator; Sun Sensor

The authors have studied a micro-robot with a new mobility system to move and hop under such micro gravity environment as International Space Station or surface of small body, comets or asteroids. The authors have developed an novel algorithm to move under micro gravity autonomously and safely. The authors also have studied a selfpositioning method to identify the position and attitude of a robot on the surface of small body. The obtained results are as follows.1. Mobility Mechanism : a new mobility on hopping was proposed and the effectiveness was confirmed by simulations.2. Position Identification : a new positioning method was developed by the sun sensors.3. Motion Estimation : a method to estimate motion of a robot during hopping was devebped and the effectiveness was confirmed by simulations.4. Motion Planning : a path planning scheme was proposed and simulated5. Micro Gravity Experiments : hopping experiments were performed and the experimental robot with proposed mobility succeeded. In hopping under micro -gravity.6. Application to Exploration Rover : exploration rover with proposed mechanism was designed and the prototype was devebped.

作者研究了一种具有新移动系统的微型机器人，可以在国际空间站或小天体、彗星或小行星表面等微重力环境下移动和跳跃。作者开发了一种新颖的算法，可以在微重力下自主、安全地移动。作者还研究了一种自定位方法来识别机器人在小物体表面的位置和姿态。所得结果如下： 1．移动机制：提出了一种新的跳跃移动机制，并通过仿真验证了其有效性。 2．位置识别：利用太阳传感器开发了一种新的定位方法。 3．运动估计：提出了一种估计机器人跳跃过程中运动的方法，并通过仿真验证了其有效性。 4．运动规划：提出并模拟了路径规划方案5。微重力实验：进行了跳跃实验，并且具有所提出的移动性的实验机器人成功了。在微重力下跳跃。6．探索漫游车的应用：设计了采用所提出的机构的探索漫游车并开发了原型机。

项目成果

T.Yoshimitsu: "Nano-Rover MINERVA for Deep Space Exploration"Journal of Machine Intelligence and Robotics Control. Vol.3, No.3. 113-119 (2001)

T.Yoshimitsu：“用于深空探索的 Nano-Rover MINERVA”机器智能和机器人控制杂志。

T.Kubota: "Newly Developed Microrover System for Lunar Exploration"Proc. of Int. Conf. on Advanced Robotics. 451-456 (2001)

T.Kubota：“新开发的月球探测微型漫游器系统”Proc。

I.Nakatani: "New Mobility System Based on Elastic Energy under Microgravity"Proc. of the 2001 Int. Conf. on Robotics and Automation. No.3. 2296-2301 (2002)

I.Nakatani：“微重力下基于弹性能的新型移动系统”Proc。

Y.Kuroda: "Proposition of Microrover System for Lunar Exploration"Journal of Robotics and Mechatronics. Vol.12.,No.3. 91-95 (2000)

Y.Kuroda：“月球探测微型漫游器系统的提议”机器人与机电一体化杂志。

久保田 孝: "摩擦を利用したホッピングロボットの研究"平成12年度無重量セミナー予稿集. 22-33 (2000)

Takashi Kubota：“利用摩擦力进行跳跃机器人的研究”2000 年失重研讨会论文集 22-33 (2000)。