The study of kinematics simulation of space truss assembly robot on orbit based on EDEM and ADAMS

Abstract

The crawling robot plays an important role in the space mission, such as detection, assemblage and repairing, which can even be an indispensable technology. For the task of unmanned space truss assembly in the future, this paper presents a kind of underactuated pole-climbing robot based on the mechanism of adhesion. The influences of adhesion of the legs' part of the robot was researched and analysed through the coupling simulation of EDEM and ADAMS, after which we got the adhering force between the legs' part and its climbing objects. The simulation results can provide guidance and theoretical basis for the detailed design of this kind of robot.