空间机械臂技术发展综述  

Review of Space Manipulator Technology

作　　者：刘宏[1] 蒋再男[1] 刘业超[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《载人航天》2015年第5期435-443,共9页Manned Spaceflight

基　　金：国家自然科学基金资助项目(51905097);国家基础研究发展规划资助项目(973-2013CB733103)

摘　　要：介绍了国外载人航天中的航天飞机、国际空间站上的典型空间机械臂系统,概述了用于我国空间站建造和维护任务的空间站机械臂系统,详述了其中核心舱机械臂和实验舱机械臂的任务要求和基本方案,重点阐述了实验舱机械臂的关节、末端作用器、控制器以及遥操作子系统的方案、组成和主要功能,并对我国未来空间机械臂技术的发展提出了建议。The typical space manipulators for the space shuttle and the International Space Station were summarized in this paper. The Chinese space station remote manipulator system for the on- orbit construction and maintenance mission was introduced. The mission requirements and basic solution for the core module manipulator and experimental module manipulator were introduced in detail.The technical proposal,composition and main features of the joint,the end effector,the controller and the teleoperation for experimental module manipulator were elaborated. The development proposal for our space manipulator was also made in this paper.

关 键 词：空间机械臂 在轨建造 在轨维护 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]