Adhesion mechanism of space-climbing robot based on discrete element and dynamics

According to the on-orbit servicing requirements of spacecraft, this article presents a new type of space-climbing robot that can climb onto the target spacecraft for repairing, rescuing, and removing orbital debris. This robot mobile system is composed of a piezoelectric actuation leg, microadhesive feet, and others. In the environment of zero gravity, the space-climbing robot can cross obstacles through crawling movement and turnover movement....