テザーを利用した宇宙ロボットの移動制御方法

摘要

One of indispensable technologies for large space structure's assembly and maintenance, such as International SpaceStation, Lunar bases and Space Solar Power Satellite, is robot moving along the surface of the structure, and we proposeTether Based Space Walking Robot, which has several tethers inside the body and moves by adjusting the length ofeach tether. In this paper, we study mobile control method of space robot using 3 tether reel mechanism by numericalsimulation and ground examination model of tether robot.