空间站机械臂人机系统设计与验证  

Design and Verification of Human-robot System for Space Station Manipulator

作　　者：朱超 薛书骐 胡成威[1] 王春慧[2] 吴志红 李德伦[1] 谭丽芬 ZHU Chao;XUE Shuqi;HU Chengwei;WANG Chunhui;WU Zhihong;LI Deun;TAN Lifen(Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications,Beijing Institute of Spacecraft System Engineering,Beijing 100094,China;National Key Laboratory of Human Factors Engineering,China Astronaut Research and Training Center,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 [2]中国航天员科研与训练中心人因工程全国重点实验室,北京100094

出　　处：《宇航学报》2024年第1期35-42,共8页Journal of Astronautics

基　　金：中国航天员科研与训练中心人因工程全国重点实验室基金(6142222210302)。

摘　　要：在充分调研国际空间站机械臂人机系统设计的基础上,结合中国空间站机械臂人机协同作业需求,建立了空间站机械臂“管理-设计-验证”全周期人机设计体系,通过人机项目规划、人机功能分配等管理要素,针对性地开展了空间机械臂人机系统详细设计,最后,从仿真分析、地面验证、在轨验证三大方面对人机系统进行了全要素全流程的验证,结果表明空间站机械臂人机系统设计合理,可应用于后续航天员出舱活动,保障航天员出舱活动安全、高效。研究结果将为空间机械臂人机系统设计与验证提供体系借鉴和工程指导。On the basis of a thorough investigation of the human-robot system design of the manipulators on the International Space Station and combining the human-robot collaborative operation requirements of the China Space Station,a full-cycle human-robot design system of“management-design-verification”is established.The detailed design of the human-robot system of the space manipulators is carried out through project planning,function allocation and other management elements.The human-robot system has been verified with all elements and processes from three aspects:simulation analysis,ground verification and in-orbit verification.The results show that the human-robot system of the manipulators of the space station is reasonably designed and can be applied to the subsequent extravehicular activities of astronauts to ensure the safety and efficiency.The results will provide system reference and engineering guidance for the design and verification of human-robot system of space manipulator.

关 键 词：空间站机械臂 人机系统 协同作业 地面验证 出舱任务 

分 类 号：V441[航空宇航科学与技术—飞行器设计]