基于可伸缩机构的空间机械臂系统设计  

Design of Reconfigurable Space Manipulator System Based on Telescopic Mechanism

作　　者：王康[1] 梁常春[1] 林云成[1] 王耀兵[1] 

机构地区：[1]北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室,北京100092

出　　处：《载人航天》2016年第5期537-543,共7页Manned Spaceflight

基　　金：国家自然科学基金(61573058)

摘　　要：空间机械臂在发射阶段往往要求较小的包络,在空间应用阶段又需要足够大的操作范围和很高的操作精度,单一构型的空间机械臂很难满足以上需求。为此提出一种臂杆可伸缩的自重构空间机械臂:当机械臂处于收缩状态时,发射包络小、操作精度高;当机械臂处于伸长状态时,可达范围大。仿真验证结果表明:设计的等截面可伸缩臂杆提高了机械臂的适应能力。Space manipulator is an important tool for on-orbit service of the spacecraft. During the launch phase the smaller envelope is often required, while the bigger range for operation is needed in the stage of space applications. At the same, time on-orbit service also imposes high requirement on accuracy of the manipulator operation, so a single configuration of space manipulator is difficult to meet the above requirements. In this paper a reconfigurable space manipulator model based on telescopic rod was proposed. When the manipulator was in the state of contraction, its launch envelope is small and precision of operation is high. When the manipulator was changed to the extended state, its opration range could be expanded very large. The function of the manipulator such as variable structure could greatly improve the adaptability for on-orbit service.

关 键 词：在轨服务技术 空间机械臂 自重构 可伸缩臂杆 

分 类 号：V423.4[航空宇航科学与技术—飞行器设计]