空间小碎片抱捕用连续型机器人结构综述  

Overview of Continuum Robot Structure for Space Debris Capture

作　　者：杨承旭 王丽华[2] 危清清[1] 赵志军[1] 王耀兵[1] YANG Chengxu;WANG Lihua;WEI Qingqing;ZHAO Zhijun;WANG Yaobing(Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications,Beijing Institute of Spacecraft System Engineering,Beijing 100094,China;Jilin University,Changchun 130025,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 [2]吉林大学,长春130025

出　　处：《航天器工程》2024年第1期107-114,共8页Spacecraft Engineering

基　　金：国家自然科学基金(U22B2080)。

摘　　要：空间小碎片的抓捕任务需要空间机器人在没有合作信息的情况下对目标进行抓捕,连续型机器人本体可在缺少抓捕对象精确测量信息的条件下,直接利用大容差实现高可靠抱捕任务。文章针对连续型机器人在空间小碎片抓捕领域的应用需求,对连续型机器人的驱动方式,以及绳驱动连续型机器人的主干、关节进行详细的调研和对比分析,在此基础上提出绳驱动连续型机器人结构设计需关注的关键问题,最后针对应用于空间抱捕任务的连续型机器人结构技术的未来发展进行展望。The task of capturing small space debris requires space robots to capture targets without cooperative information.The continuum robot body can directly use large tolerance to realize highly reliable capturing task in the absence of accurate measurement information of the captured object.Aiming at meeting requirements of applying continuum robots in the field of small space debris capture,a detailed investigation and a comparative analysis on driving modes of continuum robots,as well as the trunk characteristics and joint characteristics of cable-driven continuum robots,are conducted.Then key issues that need special attention in the structural design of cable-driven continuum robots are proposed.Finally,an outlook on the future development of continuum robot structure technology for space capture tasks is given.

关 键 词：连续型机器人 空间抱捕任务 结构设计 研究展望 

分 类 号：V44[航空宇航科学与技术—飞行器设计]