空间站机械臂捕获悬停飞行器试验系统设计与验证  

Design and Verification of Hovering Capture Test System for Space Station Manipulator

作　　者：陈明[1] 曾磊[1] 孙康 高升[1] 梁常春[1] 刘延芳[2] CHEN Ming;ZENG Lei;SUN Kang;GAO Sheng;LIANG Changchun;LIU Yanfang(Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications,Beijing Institute of Spacecraft System Engineering,CAST,Beijing 100094,China;School of Astronautics,Harbin Institute of Technology,Harbin 150001,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]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《载人航天》2022年第6期751-757,共7页Manned Spaceflight

基　　金：国家自然科学基金(51927809;51875393)。

摘　　要：捕获悬停飞行器是中国空间站机械臂的关键任务之一,由空间站机械臂实现悬停飞行器的捕获、拖动和锁紧,形成刚性连接并辅助对接。在分析和比较国内外空间悬停飞行器捕获试验技术的基础上,设计了一种用于大型空间机械臂捕获悬停飞行器的地面试验系统,该系统主要由空间机械臂、气浮零重力模拟系统、机械臂位姿测量系统、悬停飞行器模拟移动装置、模拟移动装置测量系统组成。仿真分析和地面试验,结果表明:该试验系统可实现对低速到高速的动态模拟目标的跟踪捕获,满足空间机械臂捕获悬停飞行器试验任务需求,完成了机械臂捕获悬停飞行器技术在近似真实使用环境中的验证。Hovering and capturing the spacecraft is one of the key functions of the manipulator on China Space Station.The Space Station manipulator could realize the capture,dragging and locking of the hovering spacecraft,form a rigid connection and assist in docking.Based on the analysis and comparison of the domestic and foreign spacecraft hovering and capturing test technologies,a ground test system for large-scale space manipulator hovering and capturing spacecraft was designed.The system was mainly composed of the space manipulator and air floating zero gravity simulation system,the manipulator pose measurement system,the simulated mobile device of the hovering spacecraft,and the simulated mobile device measurement system.The rationality of the design of the hovering capture ground test system was verified by simulation analysis and ground test.The results showed that the hovering capture test system could track and capture the simulated dynamic target from low speed to high speed,the requirements of the space manipulator's hovering capture cabin test mission were met,and the validation of the hovering capture technology in an approximate real use environment was completed.

关 键 词：空间站机械臂 捕获 悬停飞行器 试验系统设计 试验验证 

分 类 号：V423.7[航空宇航科学与技术—飞行器设计]