Volume 44 Issue 5
Oct.  2024
Turn off MathJax
Article Contents
Article Navigation >  Chinese Journal of Space Science  > 2024  >  44(5): 939-947 Open Access
QIU Xin’an, MA Dongtao, TIAN Licheng, HU Yuqian, WU Zhihong, ZENG Zhenglin, WEI Zhiming, DUAN Fuwei, XIAO Qiang, MA Hongjiong, SHI Wei. Design and Implementation of Space Manipulator Operating Subsystem (in Chinese). Chinese Journal of Space Science, 2024, 44(5): 939-947 doi: 10.11728/cjss2024.05.2023-0081
Citation: QIU Xin’an, MA Dongtao, TIAN Licheng, HU Yuqian, WU Zhihong, ZENG Zhenglin, WEI Zhiming, DUAN Fuwei, XIAO Qiang, MA Hongjiong, SHI Wei. Design and Implementation of Space Manipulator Operating Subsystem (in Chinese). Chinese Journal of Space Science, 2024, 44(5): 939-947 doi: 10.11728/cjss2024.05.2023-0081
shu

Design and Implementation of Space Manipulator Operating Subsystem

doi: 10.11728/cjss2024.05.2023-0081 cstr: 32142.14.cjss2024.05.2023-0081
  • 1.

    Lanzhou Institute of Physics, Lanzhou 730000

  • 2.

    Beijing Institute of Spacecraft System Engineering, Beijing 100094

  • Received Date: 2023-08-07
  • Rev Recd Date: 2024-01-26
    • Available Online: 2024-08-01
    Abstract
  • As an important platform for the construction and on-orbit operation of space station, the space manipulator operating subsystem is the first independently developed large-scale space robotic system for aerospace engineering applications in China. The space robot arm has 14 degrees of freedom under the combination of the two arms, with large motion inertia, high operating precision, and support for multi-mode work. In this paper, according to the characteristics of space manipulator on-orbit mission, a space manipulator operation subsystem is established, which is supporting long-term on-orbit and multi-mode operation. The operation subsystem is composed of manipulator console, virtual simulation platform and display, which can meet the requirements of multitasking. This paper provides a summarize overview of the architecture, working mode, and technical characteristics of the operation subsystem, and focuses on analyzing the system bus structure, multimodal human-computer interaction technology, and force perception rendering algorithms of the operation subsystem. According to the ground test and on-orbit work, the verification of space manipulator operation subsystem is obtained, which provides valuable experience and data for space manipulator operation mission. The results show that the space manipulator operating subsystem can better carry out on-orbit management of the space robotic arm, monitor the whole process of it, as well as ground and on-orbit remote control and manipulation; the application of force perception rendering technology can better support the fine manipulation of the space robotic arm end and joints; the virtual simulation platform can effectively simulate the on-orbit tasks of the space robotic arm and simulate the pre-task rehearsal and training of the support task. The space manipulator operating subsystem has accumulated experience and data to support space robotic arm mission implementation.

     

    • FullText(HTML)
  • loading
    • References(20)
  • [1]
    周建平. 我国空间站工程总体构想[J]. 载人航天, 2013, 19(2): 1-10 doi: 10.3969/j.issn.1674-5825.2013.02.001

    ZHOU Jianping. Chinese space station project overall vi-sion[J]. Manned Spaceflight, 2013, 19(2): 1-10 doi: 10.3969/j.issn.1674-5825.2013.02.001
    [2]
    李大明, 饶炜, 胡成威, 等. 空间站机械臂关键技术研究[J]. 载人航天, 2014, 20(3): 238-242 doi: 10.3969/j.issn.1674-5825.2014.03.010

    LI Daming, RAO Wei, HU Chengwei, et al. Key technology review of the research on the space station manipula-tor[J]. Manned Spaceflight, 2014, 20(3): 238-242 doi: 10.3969/j.issn.1674-5825.2014.03.010
    [3]
    朱超, 孔旭, 胡成威, 等. 空间机械臂维修性系统设计与评价体系的构建[J]. 航空学报, 2021, 42(1): 524002

    ZHU Chao, KONG Xu, HU Chengwei, et al. Maintainabi-lity system design and evaluation system construction for space manipulators[J]. Acta Aeronautica et Astronautica Sinica, 2021, 42(1): 524002
    [4]
    刘宏, 刘冬雨, 蒋再男. 空间机械臂技术综述及展望[J]. 航空学报, 2021, 42(1): 524164

    LIU Hong, LIU Dongyu, JIANG Zainan. Space manipula-tor technology: Review and prospect[J]. Acta Aeronautica et Astronautica Sinica, 2021, 42(1): 524164
    [5]
    林益明, 李大明, 王耀兵, 等. 空间机器人发展现状与思考[J]. 航天器工程, 2015, 24(5): 1-7 doi: 10.3969/j.issn.1673-8748.2015.05.001

    LIN Yiming, LI Daming, WANG Yaobing, et al. Current status and analysis of space robot[J]. Spacecraft Engineering, 2015, 24(5): 1-7 doi: 10.3969/j.issn.1673-8748.2015.05.001
    [6]
    刘宏, 蒋再男, 刘业超. 空间机械臂技术发展综述[J]. 载人航天, 2015, 21(5): 435-443 doi: 10.3969/j.issn.1674-5825.2015.05.002

    LIU Hong, JIANG Zainan, LIU Yechao. Review of space manipulator technology[J]. Manned Spaceflight, 2015, 21(5): 435-443 doi: 10.3969/j.issn.1674-5825.2015.05.002
    [7]
    JIA H L, ZHANG W M, HUANG Q, et al. Stiffness opti-mization design of a light space manipulator[C]//2007 IEEE International Conference on Automation and Logistics. Jinan: IEEE, 2007: 803-808
    [8]
    REHNMARK F, SPAIN I, BLUETHMANN W, et al. An experimental investigation of robotic spacewalking[C]//4th IEEE/RAS International Conference on Humanoid Robots. Santa Monica: IEEE, 2004: 366-384
    [9]
    MCGREGOR R, OSHINOWO L. Flight 6A: deployment and checkout of the space station remote manipulator system (SSRMS)[C]//Proceeding of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space. St-Hubert, Canada: Canadian Space Agency, 2001
    [10]
    ALBU-SCHAFFER A, BERTLEFF W, REBELE B, et al. ROKVISS – robotics component verification on ISS current experimental results on parameter identification[C]//Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. Orlando: IEEE, 2006
    [11]
    VAN WOERKOM P T L M, MISRA A K. Robotic manipulators in space: a dynamics and control perspective[J]. Acta Astronautica, 1996, 38(4/5/6/7/8): 411-421
    [12]
    YOSHIDA K. Engineering test satellite VII flight experiments for space robot dynamics and control: theories on laboratory test beds Ten Years Ago, Now in Orbit[J]. The International Journal of Robotics Research, 2003, 22(5): 321-335 doi: 10.1177/0278364903022005003
    [13]
    FUKUSHIMA Y, INABA N, ODA M. Capture and berthing experiment of a massive object using ETS-VII’s space robot-World’s first on-orbit satellite capture experiment by space robot system[C]//Astrodynamics Specialist Conference. Denver: AIAA, 2000
    [14]
    HIRZINGER G, BRUNNER B, DIETRICH J, et al. Sensor-based space robotics-ROTEX and its telerobotic features[J]. IEEE Transactions on Robotics and Automation, 1993, 9(5): 649-663 doi: 10.1109/70.258056
    [15]
    REINTSEMA D, LANDZETTEL K, HIRZINGER G. DLR’s advanced telerobotic concepts and experiments for on-orbit servicing[M]. Berlin: Springer, 2007: 323-345
    [16]
    BOUMANS R, HEEMSKERK C. The European robotic arm for the international space station[J]. Robotics and Autonomous Systems, 1998, 23(1/2): 17-27
    [17]
    易润泽. 面向机器人遥操作的多模态人机交互技术[D]. 南京: 东南大学, 2018

    YI Runze. Multi-modal man-machine interaction technology for robotic teleoperation[D]. Nanjing: Southeast University, 2018
    [18]
    邱新安, 马动涛, 朱博, 等. 面向空间机械臂操作的力反馈手柄设计[J]. 航天器工程, 2020, 29(4): 66-73

    QIU Xin’an, MA Dongtao, ZHU Bo, et al. Design of force feedback handle for space manipulator operation[J]. Spacecraft Engineering, 2020, 29(4): 66-73
    [19]
    胡玉茜, 刘宾, 吴志红, 等. 空间大型机械臂地面测试验证方案设计与实现[J]. 航天器工程, 2021, 30(4): 151-158 doi: 10.3969/j.issn.1673-8748.2021.04.020

    HU Yuqian, LIU Bin, WU Zhihong, et al. Design and implementation of ground testing and verification scheme for large space manipulator[J]. Spacecraft Engineering, 2021, 30(4): 151-158 doi: 10.3969/j.issn.1673-8748.2021.04.020
    [20]
    曾磊, 陈明, 朱超, 等. 空间机械臂三维全物理地面试验方法研究[J]. 载人航天, 2021, 27(3): 359-366

    ZENG Lei, CHEN Ming, ZHU Chao, et al. Study on full-physical ground experiment test method for space manipulator 3D movement[J]. Manned Spaceflight, 2021, 27(3): 359-366
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(10)

    Get Citation
    PDF
    XML

    Article Metrics

    Article Views(506) PDF Downloads(88) Cited by()
    Proportional views
    Related

    Journal Introduction

    ISSN 0254-6124       CN 11-1783/V

    Copyright © Editorial Office of Chinese Journal of Space Science.  京ICP备08100722号

    Supported by: Beijing Renhe Information Technology Co., Ltd.  

    x Close Forever Close

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return