空间机器人的若干前沿领域:研究进展和关键技术  

Progress and Key Technologies in Several Frontiers of Space Robots

作　　者：戴振东[1] 

机构地区：[1]南京航空航天大学仿生结构与材料防护研究所,南京210016

出　　处：《载人航天》2016年第1期9-15,共7页Manned Spaceflight

基　　金：国家自然科学基金重点项目(51435008);基本科研业务项目(3082013NP2013502)

摘　　要：基于空间环境和在轨任务的特殊性导致的空间机器人不同于地面机器人的特点,讨论了面向航天产业的核心技术路线图的确定方法,论述了航天员心理陪护机器人的要求和研究方法,重点分析了非合作目标捕获过程面临的非线性碰撞接触动力学等前沿科学问题和冲击载荷下空间漂浮系统的稳定控制等关键技术;并针对未来空间装备巨型化趋势,介绍了大型机械臂研制、多机器人协调和大延迟下对机器人系统智能化的研究进展。The special space environment and the features of on-orbit tasks make the space robot very different from the ground robots. The method to determine the roadmap of the key technologies for the space industry was discussed. The requirements and research methods of the psychological companion robot for astronauts during manned spaceflight were also discussed. The frontier issues and key technologies such as the dynamics of nonlinear impact contact during the capture of non-cooperative target and the stability control of the floating system after impact were analyzed. The future trend of space equipment is the significant increase in size. The research progress in large manipulator design,the coordination of multi-robots and the intelligent robot systems with long delay was introduced.

关 键 词：在轨服务 非合作目标捕获 航天机器人 航天员陪护 多机器人协调 

分 类 号：V11[航空宇航科学与技术—人机与环境工程]