空间机器人非合作航天器在轨服务研究进展  

Advances in Space Robot On-orbit Servicing for Non-cooperative Spacecraft

作　　者：梁斌[1] 杜晓东[1] 李成[1] 徐文福[2] 

机构地区：[1]哈尔滨工业大学空间智能系统研究所,黑龙江哈尔滨150001 [2]哈尔滨工业大学深圳研究生院,广东深圳518055

出　　处：《机器人》2012年第2期242-256,共15页Robot

基　　金：国家自然科学基金资助项目(61175098)

摘　　要：随着空间机器人和交会对接等技术的不断成熟,在轨服务将成为各种航天器寿命延长、能力升级以及轨道垃圾清理的重要手段.目前在轨的航天器、太空碎片等都是非合作目标,即没有安装用于测量的合作标志器和便于抓捕的手柄等,对此类非合作航天器的在轨服务己成为近年来研究的热点.本文首先分析了空间机器人非合作航天器在轨服务的任务特点,介绍了其应用前景;然后对主要航天大国的发展现状进行了综述,归纳了非合作在轨服务的关键技术;最后,对未来的发展趋势进行了展望.With the development of space robot and rendezvous ＆ docking technologies, on-orbit servicing is expected to play an increasingly important role in spacecraft life-extension, capacity improvement and space debris removal. So far, the spacecrafts already existed in orbit and the space debris are generally non-cooperative, i.e. neither any artificial marks used for the measurement nor grappling fixtures applied to the capture are mounted on the target. Therefore, robotic on- orbit servicing for non-cooperative spacecrafts has been a hotspot of research in recent years. In this paper, firstly, the characteristics of the on-orbit servicing for non-cooperative spacecrafts are analyzed, and the possible applications of this technology are introduced. Secondly, the achievements of the main space powers are reviewed, and the key technologies of non-cooperative on-orbit servicing are summarized. Finally, the research prospects are presented.

关 键 词：空间机器人 在轨服务 非合作目标 交会对接 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]