NDLI: A novel exterior climbing robot design for space station

Content Provider	IEEE Xplore Digital Library
Author	Chengjiang Wang Yongquan Chen Meng Chen Liangliang Han Huihuan Qian Yangsheng Xu
Copyright Year	2013
Description	Author affiliation: Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China (Chengjiang Wang; Yongquan Chen; Huihuan Qian; Yangsheng Xu) \|\| Space Struct. & Mechanism R&D Centre, Inst. of Aerosp. Syst. Eng., Shanghai, China (Meng Chen; Liangliang Han)
Abstract	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.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1722
Ending Page	1727
File Size	1083115
Page Count	6
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739716
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Space stations Space vehicles Space debris Legged locomotion Joints
Content Type	Text
Resource Type	Article

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