Key technologies of the China space station core module manipulator

被引：0

作者：

Hu C. ^{[1
]}

Gao S. ^{[1
]}

Xiong M. ^{[1
]}

Tang Z. ^{[1
]}

Wang Y. ^{[1
]}

Liang C. ^{[1
]}

Li D. ^{[1
]}

Zhang W. ^{[1
]}

Chen L. ^{[1
]}

Zeng L. ^{[1
]}

Liu X. ^{[1
]}

Wang R. ^{[1
]}

Wei Q. ^{[1
]}

Zhu C. ^{[1
]}

Pan D. ^{[1
]}

Xin P. ^{[1
]}

Yang H. ^{[1
]}

Luo W. ^{[1
]}

Liu D. ^{[1
]}

Zhou J. ^{[1
]}

Dong N. ^{[1
]}

机构：

[1] Beijing Institute of Spacecraft System Engineering, Beijing

来源：

Zhongguo Kexue Jishu Kexue/Scientia Sinica Technologica | 2022年 / 52卷 / 09期

关键词：

China space station; key technologies; manipulator;

D O I：

10.1360/SST-2021-0507

中图分类号：

学科分类号：

摘要：

The self-developed China space station core module manipulator is the first large-sized space robot system with Chinese characteristics. In the space station system, the manipulator undertakes important tasks, including large module transposition and auxiliary docking, support for astronauts’ extravehicular activities, status check, and equipment installation or maintenance. It is highly integrated and difficult to implement, involving many disciplines, such as mechanics, electricity, thermals, optics, and control. This paper introduces the technical scheme of this manipulator system and focuses on key technologies in the development and on-orbit task verification of the manipulator. Finally, suggestions and prospects are put forward for the future development and applications of China space station manipulators and space robots. © 2022 Chinese Academy of Sciences. All rights reserved.

引用

页码：1299 / 1331

页数：32

共 20 条

[1]

Zhou J P., General concept of chinese space station (in Chinese), Manned Spaceflight, 19, pp. 1-10, (2013)

[2]

Liu H, Liu D Y, Jiang Z N., Space manipulator technology: Review and prospect (in Chinese), Acta Aeronat Astronaut Sin, 42, pp. 1-14, (2021)

[3]

Satoshi U, Toru K, Hirohiko U., HTV rendezvous technique and GN&C design evaluation based on 1st flight on-orbit operation result, Proceedings of the AIAA/AAS Astrodynamics Specialist Conference, 7664, pp. 1-12, (2010)

[4]

Xu W, Liang B, Li C, Et al., Autonomous target capturing of free-floating space robot: Theory and experiments, Robotica, 27, pp. 425-445, (2008)

[5]

Aghili F, Parsa K., An adaptive vision system for guidance of a robotic manipulator to capture a tumbling satellite with unknown dynamics, Proceedings of the IEEE/RSJ International Conference on Intelligent Intelligent Robots and System, pp. 3064-3071, (2008)

[6]

Liang C C, Zhang X D, Pan D, Et al., Research of visual servo control system for space intelligent robot, Proceedings of the IEEE Advanced Information Technology, Electronic and Automation Control Conference, pp. 96-100, (2015)

[7]

Wang R, Liang C, Pan D, Et al., Research on a visual servo method of a manipulator based on velocity feedforward, Space-Sci Tech, 2021, pp. 1-8, (2021)

[8]

Tan Q M, Jia X, Chen L, Et al., Study on parameter calibration of photographic camera with visible light for space manipulator (in Chinese), Spacecraft Recovery Remote Sens, 39, pp. 113-122, (2018)

[9]

Gao S, Yuan B F, Qi Z, Et al., Space manipulator visual object tracking method using sparsity-based histogram, Spacecraft Recovery Remote Sens, 36, pp. 92-98, (2015)

[10]

Tan Q, Sun Y, Gao S, Et al., Formulation and verification to invalidation of the error evaluation for coordinate transformation by Euclidean distance between markers, Proceedings of the IEEE International Conference on Electronic Measurement Instruments (ICEMI), pp. 512-516, (2015)

← 1 2 →