面向大型空间结构建造维护的爬行机器人研究综述

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关键词：大型空间结构；空间爬行机器人；附着爬行；刚柔耦合动力学；运动规划与控制中图分类号：V467；TP242 文献标志码：A DOI：10.16385/j.cnki.issn.1004-4523.202506071

Abstract：Largescalespacestructures （L），suchasgiantspacesolarpowertatiosandongbaselinesace-basedoticalistrets， holdsignificantapcationvaue；owever，tero-obitconstructioandmainteanceeprestfodablehalengesinteospace fieldAsakeyeabigtechologyforthhgeficiencyadlow-costimplementationoftesetasks，LSSSclimbingrobotsofferitinct advantages byoperating without propellntconsumption whilecovering extensive workspaces.This paperreviewsand summaresrecent researchospacestructurebingrobots，exploingthekeytecholoies，orecalenges，andfuturedirectiosinhisfeldTohised， thepaperfirstintroducesrepresentativedesignschemesandthedevelopmentprogressof pricipleprototyes frombothdomesticand interationaleforts，viewedfromanoveralltechnologyperspective.Subsequently，itprovidesacomparisonoftheadvantagesand disadvantagesoftypicaladsiotoogiesdcomotiomoes，andisusestesigfoadaptabilitytotespaceeioto theperspectiveofehancingtheobotsin-sevicereliability.Inadition，focsingonvriousclimbingrootdsignschemes，thispaper analyzesthecrntasdliatisofseahigaitadotplag.Isusthalldprogsi modelingandmotoncotrolofspaceclimbingobotsFiall，basedonadsusioofteelevantsientificproblesndeytecical difficulties， this paper provides an outlook on several future research directions worthy of attention.

Keywords：lrgescalespacestructure;saceclimbingobt;desimbng;gid-fleiblecouplingdyamics;motionplaigadotrol

随着空间科学与技术的不断进步，人类探索太空的脚步日益加快。（剩余45580字）