Design of a Space Robot System to Simulate Climbing of Astronaut Based on Binocular Vision System

Abstract

The exploration and development of space science nowadays is explosive, the tasks which astronauts need to achieve in space are also more dangerous and complex. Therefore, space robot is needed to implement the EVA of astronauts to do these space missions (EVA—Extravehicular activity). Firstly, we designed a kind of space robot with vision system and also we discussed a vision information processing method based on a binocular stereo vision system which is used on our space robot. Secondly, we designed a passive experimental platform which can simulate the weightless environment in space for space robot to simulate climbing of astronaut, and a method is adopted to improve the stability of the passive mechanism by analyzing force and vibration condition. Lastly, based on this robot system, space robot could simulate the extravehicular movement of astronaut based on its binocular vision system, and this validated presented methods in this paper.