空间站机械臂关键技术研究

我国空间站机械臂承担舱段转位、辅助对接、舱外设备安装及维修等关键任务,具有大负载、高精度、高可靠等特点,涉及机、电、热、光、控等多学科技术交叉耦合,高度集成且研制难度巨大。在分析、比较国内外机械臂的基础上,提出了我国空间站七自由度冗余、分布式控制、位置可移动的机械臂技术方案,并阐述了高精度伺服控制、多约束路径规划等八类关键技术研究成果。空间站机械臂已具备了工程化实施条件,为我国空间站工程建设奠定了基础。

Key Technology Review of the Research on the Space Station Manipulator

The space station manipulator of China takes on the tasks of relocking spacecraft sec-tions, docking assistance , installing equipments , and maintenance of the space station .It has the features of a high degree of accuracy , reliability and load ability .Since it is a highly integrated robot system, combing technologies of mechanics , electronics, thermotics, vision and computer control , the development of the space station contains many unsolved key technologies and therefore intro-duces huge difficulty for the implementation .On the basis of the analysis and comparation to the space station manipulator at home and abroad , this paper present a technical solution for the space station manipulator which is a seven degree of freedom redundant , distributed controlled , and base movable manipulator system , it also describes the research results of the eight key technologies such as high accuracy servo-control and multiple constrained path planning .Research results in this paper shows the project of the space station manipulator has been qualified to be engineered , which lays the foundation for the construction of the space station of China .