Workspace,stiffness analysis and design optimization of coupled active-passive multilink cable-driven space robots for on-orbit services

The use of space robots (SRs) for on-orbit services (OOSs) has been a hot research topic in recent years. However, the space unstructured environment (i.e.: confined spaces, multiple obstacles, and strong radiation interference) has greatly restricted the application of SRs. The coupled active-passive multilink cable-driven space robot (CAP-MCDSR) has the characteristics of slim body, flexible movement, and electromechanical separation, which is very suitable for extreme space environments. However, the dynamic and stiffness modeling of CAP-MCDSRs is challenging, due to the complex coupling among the active cables, passive cables, joints, and the end-effector. To deal with these problems, this paper proposes a workspace, stiffness analysis and design optimization method for such type of MCDSRs. Firstly, the multi-coupling kinematics relationships among the joint, cables and the end-effector are established. Based on hybrid series-parallel characteristics, the improved coupled active–passive (CAP) dynamic equation is derived. Then, the maximum workspace, the maximum stiffness, and the minimum cable tension are resolved, among them, the overall stiffness is the superposition of the stiffness produced by the active and the passive cable. Furthermore, the workspace, the stiffness, and the cable tension are analyzed by using the nonlinear optimization method (NOPM). Finally, an 8-DOF CAP-MCDSR experiment system is built to verify the proposed modeling and trajectory tracking methods. The proposed modeling and analysis results are very useful for practical space applications, such as designing a new CAP-MCDSR, or utilizing an existing CAP-MCDSR system.     

陶瓷基复合材料旋转爆震燃烧室壁面冷却研究

为了降低旋转爆震发动机燃烧室壁面温度，设计了陶瓷基复合材料燃烧室主动冷却结构。对燃烧室主动冷却结构的传热特性进行数值模拟，获得主动冷却燃烧室壁面温度响应和温度分布规律。对燃烧室主动冷却结构进行了模型简化，将模拟旋转爆震波获得的不同壁面温度下的热流密度参数加载在冷却模型上，提高了壁面温度模拟的计算效率。结果表明：燃烧室内壁面热流密度随着壁面温度的升高而降低，扩散区的平均热流密度最大；陶瓷基复合材料燃烧室主动冷却结构可以有效降低燃烧室壁面温度，在相同冷却流量下，矩形冷却截面的冷却效果优于圆形冷却截面，可以将燃烧室壁面的温度降到1 200 K以下；燃烧室壁面最高温度在燃烧室中段区域。     

Frequency steering of spaceborne clocks based on XPNAV-1 observations

Due to high stable rotations, timing of pulsars provides a natural tool to correct the frequency deviation of spaceborne atomic clocks. Based on processing the observational data about a year of Crab pulsar given by XPNAV-1 satellite, we study the possibility of correcting the frequency deviation of spaceborne atomic clocks using pulsar timing. According to the observational data in X-ray band and the timing model parameters from radio observations, the pre-fit timing residuals with a level of 6...