空间站机械臂关节快速连接装置设计与验证  

Design and Experimental Verification of Joint Quick Connect Device for Space Station Manipulator

作　　者：张运 李德伦[1] 王康[1] 朱超 赵志军[1] 杨光辉 姚思雨 ZHANG Yun;LI Delun;WANG Kang;ZHU Chao;ZHAO Zhijun;YANG Guanghui;YAO Siyu(Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications,Beijing Institute of Spacecraft System Engineering,CAST,Beijing 100094,China;Beijing Satellite Manufacturing Co.,Ltd,Beijing 100094,China)

机构地区：[1]空间智能机器人系统技术与应用北京市重点实验室,北京空间飞行器总体设计部,北京100094 [2]北京卫星制造厂有限公司,北京100094

出　　处：《载人航天》2022年第6期742-750,共9页Manned Spaceflight

基　　金：人因工程重点实验室一般基金项目(6142222210302)。

摘　　要：为满足空间站机械臂在轨维修需求,实现在轨故障单机快速从整臂中分离,设计了一种通用快速连接装置。该装置在满足空间站机械臂高刚度、大承载要求的前提下,具有空间环境下操作力矩小、操作简便、拆装迅速的特点。快速连接装置由快速连接母组件和快速连接公组件两部分组成,两组件通过膨胀螺栓膨胀施加预紧力实现锁紧,组件对接过程中通过楔形结构配合实现导向和定位。该快速连接装置通过刚度测试、真空高低温环境下膨胀螺栓插拔以及航天员地面人机工效等验证,结果表明该装置可满足空间站机械臂使用要求与在轨维修需求。According to the requirements of astronaut Extravehicular Activities(EVA),a universal joint quick connect device was designed to realize the rapid separation of faulty products from the Space Station manipulator.The joint quick connect device could achieve the requirements of high rigidity and large heavy load.At the same time,it had the characteristics of small operating torque,easy operation and quick disassembly.The quick connect device was divided into the male component and the female component,and the two components were locked by expansion bolts and positioned and guided through a wedge structure.The joint quick connect device had passed the stiffness test,the expansion bolt insertion test in the vacuum,high and low temperature environment,as well as the astronaut ground ergonomics test.The experimental results showed that the device could meet the use requirements of the Space Station manipulator and on-orbit maintenance requirements.

关 键 词：空间站机械臂 快速连接 膨胀螺栓 人机工效 

分 类 号：V423.7[航空宇航科学与技术—飞行器设计]