在轨组装机器人抓取机构设计与控制系统研究
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摘要
根据在轨组装空间望远镜关键技术的研究需求,为有效实施在轨组装服务,设计了在轨组装机器人及子镜组装分系统的地面验证方案,并对组装机器人的末端抓取机构进行设计分析。该抓取机构采用插入式抓取、胀紧式锁紧方案。同时,对组装机器人的控制系统方案进行详细阐述;经过分析计算,该设计能够满足在轨组装空间望远镜地面验证阶段的应用需求。
According to the requirement of the key technology research mission of on-orbit assembly space telescope and in order to implement the on-orbit assembly service effectively,the ground verification scheme of the on-orbit assembly robot and sub-mirror assembly sub-system is designed,the end grab mechanism of the assembly robot is designed and analyzed. The scheme of inserting grasp and expanding lock is adopted in the grasp mechanism,and the control system of the assembly robot is also described. After the calculation and analysis,this design can meet the application requirements of the on-orbit assembly space telescope during the ground verification phase.
According to the requirement of the key technology research mission of on-orbit assembly space telescope and in order to implement the on-orbit assembly service effectively,the ground verification scheme of the on-orbit assembly robot and sub-mirror assembly sub-system is designed,the end grab mechanism of the assembly robot is designed and analyzed. The scheme of inserting grasp and expanding lock is adopted in the grasp mechanism,and the control system of the assembly robot is also described. After the calculation and analysis,this design can meet the application requirements of the on-orbit assembly space telescope during the ground verification phase.
引文
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[2]闻新,王秀丽,刘宝忠.美国试验小卫星XSS-11系统[J].中国航天,2006(7):22-25.
[3]彭灏.美国“轨道快车”系统及其军事应用[J].现代军事,2007(12):50-53.
[4]系统院.欧洲研究立方星自主对接技术用于航天器在轨组装[J].军民两用技术与产品,2016(19):22.
[5]刘杨.复兴之路:从“留里卡”和“礼炮”看俄罗斯航空工业发展新思维[J].现代兵器,2009(2):19-21.
[6]齐冀.火箭在轨组装对接机构研制[D].哈尔滨:哈尔滨工业大学,2014:3-8.
[7]TAYLOR R N.The james webb space telescope takes shape[J].Astronomy,2014(8):42-43.
[8]CHRIS S,DAN L,MARTIN S,et al.Building large telescopes in orbit using small satellites[J].Acta Astronautica,2017,141:183-195.
[9]王克军,董吉洪,宣明,等.空间遥感器大口径反射镜的复合支撑结构[J].光学精密工程,2016,24(7):1719-1730.