对在空间微重力环境下，通过连接空间机械臂来固定和支撑航天员在轨维修操作的多关节脚限位器装置进行研究。多关节脚限位器装置限制航天服的靴子防止航天员脱离脚限位器，同时为航天员在轨维修操作提供多个自由度的调节范围。对多关节脚限位器装置的多关节结构进行设计与分析，针对某些特定动作进行运动学仿真，并进行试验验证。此外，还对关节运动范围进行了分析，使用Adams软件对载荷限制单元防冲击载荷与缓慢变化载荷的能力进行了仿真分析。
This paper develops a multi-joint foot restraint, which is connected with the space manipulator for astronauts to fix their body and adjust their posture when they are working in space with microgravity. The device can prevent astronauts from escaping by imposing restriction on the boot of the space suit, and can make possible multi-degree of freedom adjustment of posture in on-orbit servicing. This paper designs the mechanical structure of the restraint, conducts kinematic simulation of some key motion mechanisms, and makes experiments to verify the design. The motion range, kinematic accuracy, and locking ability of the restraint are analyzed. The torque slowly loaded and the torque instantaneously loaded are simulated to verify the motion situation of the load limiting unit using Adams.
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