空间站核心舱机械臂关键技术  

Key technologies of the China space station core module manipulator

作　　者：胡成威[1] 高升[1] 熊明华[1] 唐自新[1] 王友渔[1] 梁常春[1] 李德伦[1] 张文明[1] 陈磊[1] 曾磊[1] 刘鑫[1] 王瑞[1] 危清清[1] 朱超 潘冬[1] 辛鹏飞 杨宏[1] 罗文成 刘冬雨 周建平 董能力 HU ChengWei;GAO Sheng;XIONG MingHua;TANG ZiXin;WANG YouYu;LIANG ChangChun;LI DeLun;ZHANG WenMing;CHEN Lei;ZENG Lei;LIU Xin;WANG Rui;WEI QingQing;ZHU Chao;PAN Dong;XIN PengFei;YANG Hong;LUO WenCheng;LIU DongYu;ZHOU JianPing;DONG NengLi(Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)

机构地区：[1]中国空间技术研究院北京空间飞行器总体设计部,北京100094

出　　处：《中国科学：技术科学》2022年第9期1299-1331,共33页Scientia Sinica(Technologica)

基　　金：国家载人航天重大工程资助项目。

摘　　要：空间站核心舱机械臂是中国首个自主研制的面向宇航工程应用的大型空间机器人系统,在空间站系统中承担大型舱段转位与辅助对接、支持航天员出舱活动、舱外状态巡检及舱外设备安装及维修等重要任务,它涉及机、电、热、光、控等多学科技术,集成度高,实现难度大.文章介绍了具有“中国特色”的空间站核心舱机械臂系统方案,重点阐述了核心舱机械臂工程研制过程中突破的关键技术以及核心舱机械臂在轨测试验证情况,并对空间站机械臂与空间机器人的后续发展与未来应用提出了建议与展望.The self-developed China space station core module manipulator is the first large-sized space robot system with Chinese characteristics.In the space station system,the manipulator undertakes important tasks,including large module transposition and auxiliary docking,support for astronauts’extravehicular activities,status check,and equipment installation or maintenance.It is highly integrated and difficult to implement,involving many disciplines,such as mechanics,electricity,thermals,optics,and control.This paper introduces the technical scheme of this manipulator system and focuses on key technologies in the development and onorbit task verification of the manipulator.Finally,suggestions and prospects are put forward for the future development and applications of China space station manipulators and space robots.

关 键 词：中国空间站 机械臂 关键技术 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] V476.1[自动化与计算机技术—控制科学与工程]