我国空间站机械臂系统关键技术发展  

Key Technologies Development of the Space Station Manipulator System

作　　者：王友渔[1] 胡成威[1] 唐自新[1] 高升[1] 熊明华[1] 王耀兵[1] 梁常春[1] 李德伦[1] 张文明[1] 陈磊[1] 曾磊[1] 朱超 刘鑫[1] WANG Youyu;HU Chengwei;TANG Zixin;GAO Sheng;XIONG Minghua;WANG Yaobing;LIANG Changchun;LI Delun;ZHANG Wenming;CHEN Lei;ZENG Lei;ZHU Chao;LIU Xin(Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications,Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)

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,北京100094

出　　处：《航天器工程》2022年第6期147-155,共9页Spacecraft Engineering

基　　金：中国载人航天工程,国家自然科学基金(51927809)。

摘　　要：空间站机械臂是我国首个自主研制的用于载人航天工程应用的空间机器人系统,在空间站系统中承担大型舱段转位与辅助对接、来访飞行器悬停捕获、支持航天员出舱EVA、舱外状态巡检及舱外载荷拆装维护等重要任务,它涉及机、电、热、光、控等多学科技术耦合,涉及多项未解决的关键技术。文章介绍了我国空间站机械臂系统总体技术方案,并阐述了空间站机械臂研制过程中涉及的多项关键技术发展以及该机械臂在轨性能评估情况。The space station manipulator is one of the essential equipment for the construction and maintenance of the space station of China. In the space station system, it undertakes important tasks such as lager module transposition and auxiliary docking, support for astronauts extravehicular activities, spacecraft capture, extra-vehicular status check and extra-vehicle equipment installation or maintenance. Since it is a highly integrated aero-space intelligent robot system, combining technologies of mechanics, electronics, thermotics, optics, control and so on. The development of the space manipulator contains many unsolved key technologies. To pursue the goal of building the own space station of China, a special research project of these key technologies is initiated. This paper introduces the overall technical conception, and focuses on the key technologies and performances evaluation of the space station manipulator and the on-orbit task vertification.

关 键 词：空间站 机械臂 空间机器人 关键技术 

分 类 号：V423.7[航空宇航科学与技术—飞行器设计]