Abstract
• The current progress and planning of SCBs exploration missions are reviewed. • The surface environmental characteristics of SCBs are analyzed. • Classic adhesion and locomotion technologies for exploring SCBs are studied. • Bionic adhesion and locomotion techniques for exploring SCBs are organized. • Critical issues and research directions of related technologies are presented. This paper attempts to present a comprehensive review of adhesion and locomotion technology for exploring small celestial bodies (SCBs). The long-term landing, adhesion, and locomotion of space robots on the surface of SCBs can maximize the scientific value of exploration missions. They can also provide technical reserves and support for future SCBs resource exploitation and crewed missions. Based on this background, the current progress and planning of SCBs exploration missions are first reviewed. Due to the special microgravity environment and complex surface characteristics of SCBs, adhesion and locomotion on SCBs surfaces are extremely difficult. The surface environmental characteristics of SCBs and their influences and limitations on the adhesion and locomotion of space robots are analyzed. The progress of classic adhesion and locomotion technology on SCBs is classified and studied, including anchoring adhesion, instantaneous adhesion, and locomotion technologies. Based on the research of climbing and soft robots, various bionic adhesion and locomotion techniques are introduced, with emphasis on their application prospects in SCBs exploration missions. Finally, according to the trend of future SCBs exploration missions, the critical issues and research direction of related technologies are presented, and concluding remarks are provided.
Published Version
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