中性浮力水下机械臂关键技术研究  

Study on Key Technologies of Neutral Buoyancy Underwater Manipulator

作　　者：杨健 韩亮亮 晁建刚[3] 浣上[3] 王卫军 张崇峰 YANG Jian;HAN Liangliang;CHAO Jiangang;HUAN Shang;WANG Weijun;ZHANG Chongfeng(Aerospace System Engineering Shanghai,Shanghai 201108,China;Shanghai Key Laboratory of Spacecraft Mechanism,Shanghai 201108,China;China Astronaut Research and Training Center,Beijing 100094,China)

机构地区：[1]上海宇航系统工程研究所,上海201108 [2]上海市空间飞行器机构重点实验室,上海201108 [3]中国航天员科研训练中心,北京100094

出　　处：《载人航天》2024年第1期74-80,共7页Manned Spaceflight

摘　　要：水下机械臂可为航天员中性浮力训练提供转运和定点支持功能,提高训练过程的连贯性和效率。针对水下密封、中性浮力配平和防腐蚀3项水下机械臂关键技术,提出了采用多重冗余密封、浮力块与关节外壳赋形设计的技术方案,选用钛合金和双相不锈钢材料提升了机械臂的防腐蚀性能。研制的水下机械臂产品参与出舱活动训练已超过2年,最长在水下连续使用超过226天,工作状态良好,保证了空间站出舱活动水下试验的质量与有效性。The underwater manipulator can provide position transfer and support for neutral buoyan⁃cy training,thus improving the consistency and efficiency of the training process.With regard to the three key technologies of underwater sealing,neutral buoyancy leveling and anti⁃corrosion,a techni⁃cal solution using multiple redundant seals,integrated design of shaped buoyancy shells and joints was proposed,and titanium alloy and duplex stainless steel were selected to enhance the anti⁃corro⁃sion performance.The underwater manipulator has been used in training for over two years with good working condition,and with a continuous usage up to 226 days,which ensures the quality and effec⁃tiveness of the underwater test.

关 键 词：空间站 出舱活动 失重模拟 水下机械臂 

分 类 号：V527[航空宇航科学与技术—人机与环境工程] V416