面向在轨建造的空间机器人末端执行器及适配接口设计与验证

doi:10.3901/JME.2024.03.001

机械工程学报 ›› 2024, Vol. 60 ›› Issue (3): 1-10.doi: 10.3901/JME.2024.03.001

扫码分享

面向在轨建造的空间机器人末端执行器及适配接口设计与验证

赵亮亮, 刘子毅, 赵京东, 段启帆, 王梓睿, 刘宏

哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150001

收稿日期:2023-03-14 修回日期:2023-07-03 出版日期:2024-02-05 发布日期:2024-04-28
通讯作者: 赵京东,男,1977年出生,博士,研究员,博士研究生导师。主要研究方向为空间机器人技术和生物机电一体化技术。E-mail:zhaojingdong@hit.edu.cn
作者简介:赵亮亮,男, 1987 年出生,博士,副研究员。主要研究方向为空间机器人技术。E-mail:zhaoliangliang@hit.edu.cn
基金资助:
国家自然科学基金(92148203)、机器人技术与系统国家重点实验室(哈尔滨工业大学)自主研究课题(SKLRS202201A01)和航天飞行动力学技术重点实验室基金(XTB6142210210303)资助项目。

Design and Verification of End-effector and Adaptation Interfaces for On-orbit Construction of Space Robot

ZHAO Liangliang, LIU Ziyi, ZHAO Jingdong, DUAN Qifan, WANG Zirui, LIU Hong

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001

Received:2023-03-14 Revised:2023-07-03 Online:2024-02-05 Published:2024-04-28

摘要/Abstract

摘要： 针对大型空间设施在轨建造任务需求,以空间多分支机器人为应用对象,设计了一种末端执行器及三种适配接口,用于完成识别、定位、捕获、搬运、装配、攀爬和探测等任务。通过分析在轨建造任务需求,以装配对象参数、机器人性能等为依据提出了设计指标。制定了末端执行器机械结构、电气系统的总体方案,并设计了三种适配接口;针对容差需求,分析了对接过程的容差条件和力学条件,优化了关键部件几何参数;针对锁紧需求,建立了锁紧过程运动学、力学模型,并采用组合运动规律,优化了圆柱凸轮曲线槽。通过仿真及试验,验证了容差、锁紧设计的正确性,并进行在轨装配、在轨攀爬的地面模拟试验,进一步验证了末端执行器及适配接口的性能,为大型空间设施的在轨建造奠定了基础。

关键词: 在轨建造, 空间机器人, 末端执行器, 适配接口, 对接锁紧

Abstract: In order to meet the requirements of the on-orbit construction of large space facilities, an end-effector, and three adaptive interfaces are designed for the space multi-branch robot, which can be used to complete the tasks of recognition, positioning, capture, transport, assembly, climbing, and exploration. According to the requirements of on-orbit construction tasks, design indexes are proposed based on assembly object parameters and robot performance. The overall plans of the mechanical structure and electrical system of the end-effector are being developed, and three kinds of adaptive interfaces are designed. To meet the requirements of tolerance, the tolerance and mechanical conditions of the docking process are analyzed, and the geometric parameters of key components are optimized. To meet the requirements of locking, the kinematic and mechanical models of the locking process are established, and the cylindrical CAM groove is optimized by using the combined motion law. The correctness of tolerance and locking design is verified by simulation and experiment. The ground simulation test of on-orbit assembly and climbing is carried out to further verify the performance of end-effector and adaptive interfaces, which lays a foundation for the on-orbit construction of large space facilities.

Key words: on-orbit construction, space robot, end-effector, adaptation interface, docking and locking

中图分类号:

TG156

赵亮亮, 刘子毅, 赵京东, 段启帆, 王梓睿, 刘宏. 面向在轨建造的空间机器人末端执行器及适配接口设计与验证[J]. 机械工程学报, 2024, 60(3): 1-10.

ZHAO Liangliang, LIU Ziyi, ZHAO Jingdong, DUAN Qifan, WANG Zirui, LIU Hong. Design and Verification of End-effector and Adaptation Interfaces for On-orbit Construction of Space Robot[J]. Journal of Mechanical Engineering, 2024, 60(3): 1-10.

参考文献

[1] Chinese Academy of Sciences. Sino-UK on-orbit assembly telescope project kicks off[EB/OL]. Beijing:Chinese Academy of Sciences, 2017[2023-03-10]. https://english.cas.cn/newsroom/archive/news_archive/nu2017/201711/t20171107_185757.shtml.
[2] 侯欣宾,王立.空间太阳能电站技术发展现状及展望[J].中国航天, 2015(2):12-15. HOU Xinbin, WANG Li. Status and prospect of space solar power station technology[J]. Aerospace China 2015(2):12-15.
[3] 肖洪,成正爱,郭宏伟,等.空间太阳能电站大折展比体展开桁架机构[J].机械工程学报, 2020, 56(13):128-137. XIAO Hong, CHENG Zhengai, GUO Hongwei, et al. Deployable truss mechanism with large deflection ratio for space solar power station[J]. Journal of Mechanical Engineering, 2020, 56(13):128-137.
[4] 李团结,马小飞,华岳,等.大型空间天线在轨装配技术[J].载人航天, 2013, 19(1):86-90. LI Tuanjie, MA Xiaofei, HUA Yue, et al. On-orbit assembly technology of large space antennas[J]. Manned Spaceflight, 2013, 19(1):86-90.
[5] 刘荣强,史创,郭宏伟,等.空间可展开天线机构研究与展望[J].机械工程学报, 2020, 56(5):15-26. LIU Rongqiang, SHI Chuang, GUO Hongwei, et al. Research and prospect of space deployable antenna mechanism[J]. Journal of Mechanical Engineering, 2020, 56(5):15-26.
[6] MANKINS J, KAYA N, VASILE M. SPS-ALPHA:The first practical solar power datellite via arbitrarily large phased array (A 2011-2012 NIAC project)[C]//10th International Energy Conversion Engineering Conference, July 30-August 01, 2012, Atlanta, Georgia. Reston:AIAA, 2012:1-113.
[7] NASA. Dragonfly:On-orbit robotic installation and reconfiguration of large solid RF reflectors[EB/OL]. USA:NASA, 2015[2023-03-10]. https://www.nasa.gov.
[8] LEE N, BACKES P, BURDICK J W, et al. Architecture for in-space robotic assembly of a modular space telescope[J]. Journal of Astronomical Telescopes Instruments and Systems, 2016, 2(4):1-13.
[9] XUE Z H, LIU J G, WU C C, et al. Review of in-space assembly technologies[J]. Chinese Journal of Aeronautics, 2021, 34(11):21-47.
[10] FENG F, TANG L N, XU J F, et al. A review of the end-effector of large space manipulator with capabilities of misalignment tolerance and soft capture[J]. Science China (Technological Sciences), 2016, 59(11):1621-1638.
[11] FENG F, LIU Y W, LIU H, et al. Design schemes and comparison research of the end-effector of large space manipulator[J]. Chinese Journal of Mechanical Engineering, 2012, 25(4):674-687.
[12] 谭益松,刘伊威,刘宏,等.大型空间末端执行器在轨操作运输舱策略[J].机械工程学报, 2011, 47(3):109-115. TAN Yisong, LIU Yiwei, LIU Hong, et al. Transfer vehicle cargo manipulating strategy in orbit using large-scale space end-effector[J]. Journal of Mechanical Engineering, 2011, 47(3):109-115.
[13] 胡成威,高升,熊明华,等.空间站核心舱机械臂关键技术[J].中国科学:技术科学, 2022, 52(9):1299-1331. HU Chengwei, GAO Sheng, XIONG Minghua, et al. Key technologies of the China space station core module manipulator[J]. Sci. Sin. Tech., 2022, 52(9):1299-1331.
[14] SUN K, LIU H, XIE Z W, et al. Structure design of an end-effector for the Chinese space station experimental module manipulator[C]//The International Symposium on Artificial Intelligence, Robotics and Automation in Space, June 17-19, 2014, Montreal, Quebec, Canada. Canadian Space Agency, 2014:1-8.
[15] AHLSTROM T D, DIFTLER M A, BERKA R B, et al. Robonaut2 on the international space station:Status update and preparations for IVA mobility[C]//AIAA SPACE 2013 Conference and Exposition, September 10-12, 2013, San Diego, California. Reston:AIAA, 2013:1-14.
[16] GITAI. GITAI develops inchworm-type robotic arm extending both the capability and mobility of space robots and completes proof-of-concept demonstration (TRL3)[EB/OL]. Japan:GITAI, 2022[2023-3-10]. https://gitai.tech/.
[17] 韩亮亮,赫向阳,杨健,等.一种自移动空间机械臂末端执行器的研制[J].机器人, 2016, 38(6):720-726. HAN Liangliang, HE Xiangyang, YANG Jiang, et al. Research on a novel end-effector for self-mobile space manipulator[J]. Robot, 2016, 38(6):720-726.
[18] SCHERVAN T A, KREISEL J, SCHROEDER K, et al. New horizons for exploration via flexible concepts based on building blocks using the standardized iSSI (intelligent space system interface) modular coupling kit by iBOSS[C]//Global Space Exploration Conference (GLEX 2021), June 14-18, 2021, St Petersburg, Russian. Paris:IAF, 2021:1-10.
[19] KREISEL J, SCHERVAN T A, SCHROEDER K, et al. A game-changing space system interface enabling multiple modular and bulding block-basded architectures for orbital and exploration missions[C]//70th International Astronautical Congress, October 21-25, 2019, Washington. Paris:IAF, 2019:1-8.
[20] LETIER P, SIEDEL T, DEREMETZ M, et al. HOTDOCK:Design and validation of a new generation of standard robotic interface for On-Orbit Servicing[C]//71st International Astronautical Congress, October 12-14, 2020, Dubai. Paris:IAF, 2020:1-8.
[21] DEREMETZ M, LETIER P, GRUNWALD G, et al. MOSAR-WM:A relocatable robotic arm demonstrator for future on-orbit applications[C]//71st International Astronautical Congress, October 12-14, 2020, Dubai. Paris:IAF, 2020:1-10.
[22] DIAZ M D, GUERRA G, GALA J, et al. SIROM electronics design:Current state and future developments[J]. Acta Astronautica, 2023, 202:742-750.
[23] KUKA. KUka LBR iiwa[EB/OL]. China:KUKA,[2023-03-10]. https://www.kuka.com.
[24] ZHOU Y, WANG B, JIANG L, et al. Rapid prototyping of real-time controllers for humanoid robotics:A case study[C]//2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), December 11-14, 2012, Guangzhou. New York:IEEE, 2012:2339-2344.

面向在轨建造的空间机器人末端执行器及适配接口设计与验证

Design and Verification of End-effector and Adaptation Interfaces for On-orbit Construction of Space Robot

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	于振, 刘海林, 裘祖荣, 安琪. 基于IGCF-IBSCF算法和BCF-IBPSO-NESN算法的工业机器人末端执行器位姿重复性检测[J]. 机械工程学报, 2024, 60(19): 71-87.
[2]	张国龙, 杨桂林, 邓益民, 王慰军, 方灶军, 陈庆盈, 朱任峰, 杨凯盛. 三平动力控末端执行器鲁棒自适应力跟踪导纳控制方法[J]. 机械工程学报, 2023, 59(1): 71-81.
[3]	张建宇, 高天宇, 于潇雁, 陈力. 基于自适应时延估计的空间机械臂连续非奇异终端滑模控制[J]. 机械工程学报, 2021, 57(11): 177-183.
[4]	李海利, 姚建涛, 张泰铭, 周盼, 柳春烨, 陈新博. 大负载气动软体末端执行器的设计与分析[J]. 机械工程学报, 2020, 56(3): 56-63.
[5]	董悫, 张立建, 易旺民, 万毕乐, 孟少华, 胡瑞钦. 基于动力学前馈的空间机器人多销孔装配力柔顺控制[J]. 机械工程学报, 2019, 55(4): 207-217.
[6]	李文皓, 张珩, 马欢, 肖歆昕. 大时延环境下空间机器人的可靠遥操作策略[J]. 机械工程学报, 2017, 53(11): 90-96.
[7]	董楸煌, 陈力. 双臂空间机器人捕获非合作目标冲击效应分析及闭链混合系统力/位形鲁棒镇定控制[J]. 机械工程学报, 2015, 51(9): 37-44.
[8]	谢立敏,陈力. 漂浮基柔性关节、柔性臂空间机器人动力学建模、饱和鲁棒模糊滑模控制及双重柔性振动主动抑制[J]. 机械工程学报, 2015, 51(1): 76-82.
[9]	梁捷;陈力. 柔性臂空间机器人基于虚拟力概念的神经网络L2增益鲁棒控制[J]. , 2012, 48(23): 23-29.
[10]	陈志煌;陈力. 闭链双臂空间机器人抓持载荷基于径向基函数神经网络的补偿控制[J]. , 2011, 47(7): 38-44.
[11]	谭益松;刘伊威;刘宏;蔡鹤皋. 大型空间末端执行器在轨操作运输舱策略[J]. , 2011, 47(3): 109-115.
[12]	史也;梁斌;王学谦;徐文福. 基于量子粒子群优化算法的空间机器人非完整笛卡尔路径规划[J]. , 2011, 47(23): 65-73.
[13]	魏承;赵阳;王洪柳. 基于滑模控制的空间机器人软硬性抓取[J]. , 2011, 47(1): 43-47.
[14]	姚燕生;梅涛. 空间操作的地面模拟方法——水浮法[J]. , 2008, 44(3): 182-188.
[15]	王从庆;张承龙. 自由浮动柔性双臂空间机器人系统的动力学控制[J]. , 2007, 43(10): 196-200.