空间站机械臂研究

空间极端环境下, 大多数舱外活动必须借助于机械臂. 机械臂是国际空间站的主要组成部分, 其对空间站的在轨组装、外部维修以及运行起着至关重要的作用, 同时机械臂可以减少航天员在舱外的工作时间和频率. 通过对国际空间站成员国关于机械臂研究概况的介绍, 包括航天飞机机械臂、空间站机械臂、欧洲机械臂、日本实验舱机械臂以及德国机械臂, 为中国空间机械臂的设计提供参考. 

Review of the Development of Robotic Manipulator for International Space Station

In extreme environment of the space, most of Extra-Vehicular Activity (EVA) has to depend on the aid of robotic manipulator. As a main part of International Space Station (ISS), robotic manipulator is playing a crucial role in the on-orbit assembly, external maintenance and the operations of ISS, and it therefore allays the working time and frequency of astronauts EVA. This paper reviews the development of the robotic manipulator based on ISS member countries' research, including shuttle remote manipulator, space station remote manipulator, European robotic arm, Japanese experiment module remote manipulator and German manipulator. It is expected that the concerning research will provide some references for the design of Chinese robotic manipulator.