CN108394572B - A kind of analogy method of maintainable technology on-orbit spacecraft - Google Patents
A kind of analogy method of maintainable technology on-orbit spacecraft Download PDFInfo
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- CN108394572B CN108394572B CN201810176029.3A CN201810176029A CN108394572B CN 108394572 B CN108394572 B CN 108394572B CN 201810176029 A CN201810176029 A CN 201810176029A CN 108394572 B CN108394572 B CN 108394572B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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Abstract
The present invention relates to a kind of analogy methods of maintainable technology on-orbit spacecraft, comprising: the body of operator is arranged and is arranged on the foot limiter of mechanical arm or spacecraft on weightless flight device, and by the foot of the operator by S1.；S2. position or the posture for moving the first movement platform truck for being equipped with the weightless flight device and the adjustment foot limiter, make the operator arrive at maintenance position, and the operator is made to reach maintenance posture；S3. the operator carries out the simulation of spacecraft maintainable technology on-orbit according to maintenance program.The self gravity of operator is counteracted by using weightless flight device, thus simulation that is simple and effective and really realizing weightlessness on the ground, the influence so as to avoid gravity to spacecraft maintainable technology on-orbit.
Description
Technical field
The present invention relates to a kind of analogy method for repairing spacecraft more particularly to a kind of simulation sides of maintainable technology on-orbit spacecraft
Method.
Background technique
Space station is the spacecraft of the in-orbit inhabitation of long-term someone, in the in-orbit flight course in space station, goes out cabin by spacefarer
Maintainable technology on-orbit maintenance, can effectively extend the service life of space station, the construction of external space station and operating experience show in-orbit
Maintenance is the necessary means for extending the manned spacecraft service life and ensureing reliance security.Existing maintainable technology on-orbit engineering verification method
It mainly include ground physical varification method and neutral buoyancy flume test method.Ground physical varification method using ground simulation cabin and
Testing equipment builds maintenance verification environment, and designer verifies capability of maintenance design according to maintainable technology on-orbit operating process, should
Method can carry out matching verifying to maintenance interface, but it is influenced by ground 1g gravity environment, can not Simulated Weightlessness
The relative pose of servant and equipment.The method that neutral buoyancy flume test method takes counterweight using neutral buoyancy and people, makes spacefarer
Cancelling out each other suffered by water to buoyancy and downward gravity, simulates the state of weightlessness in space, and this method can make to test
Personnel obtain weightless direct feel, but the disadvantage is that water there are viscous drag, makes operating operation test there are error, and flume test
Special corrosion resistance test equipment need to be designed and tool, cost are big.
Summary of the invention
The purpose of the present invention is to provide a kind of analogy methods of maintainable technology on-orbit spacecraft, can exist in ground real simulation
Rail repairs spacecraft.
For achieving the above object, the present invention provides a kind of analogy method of maintainable technology on-orbit spacecraft, comprising:
S1. the body of operator is arranged on weightless flight device, and the setting of the foot of the operator is existed
On the foot limiter of mechanical arm or spacecraft；
S2. the position of the first movement platform truck for being equipped with the weightless flight device and the adjustment foot limiter is moved
It sets or posture, so that the operator is arrived at maintenance position, and the operator is made to reach maintenance posture；
S3. the operator carries out the simulation of spacecraft maintainable technology on-orbit according to maintenance program.
According to an aspect of the present invention, in step S1, mechanical arm or the spaceborne foot limiter will be located at
The initial angle in joint is adjusted to 0 °.
According to an aspect of the present invention, in step S2, the foot limiter is arranged when on the mechanical arm, passes through shifting
Employ makes the operator arrive at maintenance position in the second sliding platform for installing the mechanical arm, and limits the foot
Device is arranged upward.
According to an aspect of the present invention, in step S2, when the foot limiter is arranged on the mechanical arm, pass through
Each joint angles of the mechanical arm are adjusted, the relative pose of the operator and spacecraft is adjusted, reach the operator
To maintenance posture.
According to an aspect of the present invention, when the foot limiter is arranged on spacecraft, by adjusting foot limit
The angle in the joint of position device, makes the operator reach maintenance posture.
According to an aspect of the present invention, in step S3, the operator is in-orbit according to maintenance program development spacecraft
Before maintenance simulation, the relative pose of the operator and spacecraft are calibrated.
According to an aspect of the present invention, if the relative pose of the operator and spacecraft meets the maintenance program
Requirement, then carry out spacecraft maintainable technology on-orbit simulation, otherwise readjust operator maintenance posture.
According to an aspect of the present invention, when the operator carries out the simulation of spacecraft maintainable technology on-orbit, make the machinery
Arm enters space manipulator flexibility simulation model.
According to an aspect of the present invention, after the mechanical arm enters space manipulator flexibility simulation model, pass through acquisition
The operator carries out motion control to the mechanical arm, simulates the operator to the opposite force of the mechanical arm
Carry out the flexibility in spacecraft maintainable technology on-orbit simulation process.
According to an aspect of the present invention, by the seat in place where the body coordinate system of the spacecraft and the spacecraft
Mark system is consistent.
A kind of scheme according to the present invention, the self gravity of operator is counteracted by using weightless flight device, from
And simulation that is simple and effective and really realizing weightlessness on the ground, so as to avoid gravity to spacecraft maintainable technology on-orbit
Influence.Meanwhile using weightless flight device instead of neutral buoyancy sink so as to avoid water to operator's operation process
Viscous drag, further avoid the operation error as caused by viscous drag, and also effectively reduce and exist to spacecraft
The cost of rail maintenance simulation.By weightless flight device and foot limiter can sufficiently Simulated Spacecraft maintainable technology on-orbit when operator
Relative pose between member and spacecraft, while can also prevent foot limiter in simulation process from breaking because of operator's gravity
It is bad, improve the validity, accuracy and safety of spacecraft maintainable technology on-orbit process.
A kind of scheme according to the present invention, during spacecraft maintainable technology on-orbit is simulated, mechanical arm acquires operator in real time
Member operation process in opposite force, and according to opposite force make mechanical arm simulation space manipulator flexibility, thus authentic and valid
The motion state for simulating space manipulator during practical maintainable technology on-orbit, further improves the true of analogy method of the invention
Reality.Meanwhile the standard during ground simulation maintenance is further improved by the flexibility that mechanical arm simulates space manipulator
True property.
A kind of scheme according to the present invention passes through Spacecraft Control mechanical arm during spacecraft maintainable technology on-orbit is simulated
It simulates space manipulator and pose adjustment is carried out to operator, improve the one of ground simulation process and practical maintainable technology on-orbit operating condition
Cause property also provides support to improve the control of maintenance program and space manipulator.
Detailed description of the invention
Fig. 1 schematically shows a kind of step block diagram of the analogy method of embodiment according to the present invention；
Fig. 2 schematically shows a kind of structure chart of the simulator of the analogy method of embodiment according to the present invention；
Fig. 3 schematically shows a kind of flow diagram of the analogy method of embodiment according to the present invention.
Specific embodiment
It, below will be to embodiment in order to illustrate more clearly of embodiment of the present invention or technical solution in the prior art
Needed in attached drawing be briefly described.It should be evident that the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skills without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
When being described for embodiments of the present invention, term " longitudinal direction ", " transverse direction ", "upper", "lower", " preceding ",
" rear ", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", orientation or positional relationship expressed by "outside" are based on phase
Orientation or positional relationship shown in the drawings is closed, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned term cannot
It is interpreted as limitation of the present invention.
The present invention is described in detail with reference to the accompanying drawings and detailed description, embodiment cannot go to live in the household of one's in-laws on getting married one by one herein
It states, but therefore embodiments of the present invention are not defined in following implementation.
As shown in Figure 1, a kind of embodiment according to the present invention, a kind of simulation side of maintainable technology on-orbit spacecraft of the invention
Method, comprising:
S1. the body of operator is arranged on weightless flight device, and the foot of operator is arranged in machinery
On the foot limiter of arm or spacecraft；
S2. position or the appearance for moving the first movement platform truck for being equipped with weightless flight device and adjusting foot limiter
State makes operator arrive at maintenance position, and operator is made to reach maintenance posture；
S3. operator carries out the simulation of spacecraft maintainable technology on-orbit according to maintenance program.
A kind of embodiment according to the present invention, analogy method of the invention are carried out according to actual maintainable technology on-orbit task.
It is completed since actual maintainable technology on-orbit task needs two spacefarer to cooperate, one is located at cabin surface, and one is located at space machine
Tool arm end, is fixed by foot limiter.Therefore two spacefarer are also needed in analogy method of the invention (to grasp
Make personnel) carry out spacecraft maintainable technology on-orbit process simulation.
As shown in Fig. 2, a kind of embodiment according to the present invention, analogy method of the invention passes through ground simulator reality
It is existing.In the present embodiment, ground simulator includes spacecraft 1, weightless flight device 2, foot limiter 3, mechanical arm 4,
One sliding platform 5 and the second sliding platform 6.Wherein, there are two the tools of foot limiter 3, a foot limiter 3 is mounted on space flight
On the lateral wall of the cabin of device 1, another foot limiter 3 is mounted on the end of mechanical arm 4, and same with the movement of mechanical arm 4
Step movement.In the present embodiment, spacecraft 1 can be consistent with the practical spacecraft structure for executing task, certainly may be used
Think the model of equal proportion.Weightless flight device 2 is used to offset the gravity of operator, makes operator that can arbitrarily adjust body
Posture, while foot limiter 3 being protected not destroyed by operator's gravity.Foot during foot limiter 3 and practical execution task
Limiter is consistent.Mechanical arm 4 is used to simulate the movement of space manipulator.Weightless flight device 2 and first movement platform truck 5
Respectively two.Weightless flight device 2 is fixedly mounted on first movement platform truck 5, mobile with first movement platform truck 5.Machine
Tool arm 4 and the second sliding platform 6 are one, and mechanical arm 4 is fixedly mounted on the second sliding platform 6, with second
Sliding platform 6 is mobile.
In conjunction with shown in Fig. 2 and Fig. 3, a kind of embodiment according to the present invention, by the coordinate system of spacecraft and spacecraft institute
Coordinate system in place is consistent.It in the present embodiment, will by first movement platform truck 5 and the second sliding platform 6
Weightless flight device 2 and mechanical arm 4 are moved respectively near the operating point that spacecraft needs repairing.Pass through first movement platform truck
5 and second sliding platform 6 can ensure that the motion range by weightless flight device 2 and mechanical arm 4 meet operator reach work
Small range movement requirement after making point.2 end height of weightless flight device and operator's waist are high together, are convenient for subsequent wearing.
The body of operator is connect with weightless flight device 2 respectively, and the foot of operator is fixed on foot limiter 3
On.In the present embodiment, mechanical arm 4 is moved near maintenance work point with the second sliding platform 6, the foot on mechanical arm 4
Limiter 3 is located near weightless flight device 2, and foot limiter 3 is arranged upward, to guarantee foot's energy of operator
It is enough fixed on foot limiter 3.In the present embodiment, after operator is connected with weightless flight device 2, according to operation
The weight of personnel carries out loss of weight debugging, it is ensured that offsets whole gravity of operator.To keep more real simulation of the invention in-orbit
Repair the process of spacecraft, it is also necessary to operator's wearing and the clothes etc. during actual task.By the foot of operator
Before portion is fixed on foot limiter 3, respectively by the initial angle in the joint for the foot limiter 3 being connect with mechanical arm 4 and spacecraft 1
Degree is adjusted to 0 °.
In conjunction with shown in Fig. 2 and Fig. 3, a kind of embodiment according to the present invention, when foot limiter 3 is installed on mechanical arm 4
When, by adjusting each joint angles of mechanical arm 4, the relative pose of operator and spacecraft 1 are adjusted, operator is made to reach dimension
Posture is repaired, so that the requirement in the position of operator, posture and maintenance program be made to be consistent.When foot limiter 3 is installed on
When on spacecraft 1, by adjusting the angle in the joint of foot limiter 3, operator is made to reach maintenance posture, to make operator
Requirement in the position of member, posture and maintenance program is consistent.After completing to the adjustment of the posture of operator, pose is utilized
Measuring system calibrates operator and the relative pose of spacecraft 1, if the relative pose of operator and spacecraft 1 is full
The requirement of sufficient maintenance program then carries out the simulation of 1 maintainable technology on-orbit of spacecraft, otherwise readjusts the maintenance posture of operator.Weight
During the maintenance posture of new adjustment operator, respectively by adjusting each joint angles of mechanical arm 4 or adjustment foot limiter 3
The angle in joint makes operator reach maintenance posture.
In conjunction with shown in Fig. 2 and Fig. 3, a kind of embodiment according to the present invention, operator carries out 1 maintainable technology on-orbit of spacecraft
When simulation, mechanical arm 4 is made to enter space manipulator flexibility simulation model.In the present embodiment, start spacecraft 1, setting boat
Its 1 working condition of device is consistent with maintainable technology on-orbit operating condition.Spacecraft 1 maintenance work point operator respectively according to dimension
It repairs scheme and carries out the simulation of spacecraft maintainable technology on-orbit, while operator can be carried out by communication apparatus with the inside of spacecraft 1
Call.Mechanical arm 4 is operated in spacecraft 1, mechanical arm 4 is made to enter space manipulator flexibility simulation model.It is simulating
In the process, the force snesor on mechanical arm 4 acquires operator in operation process to the opposite force of mechanical arm 4 in real time, and anti-
It feeds the control system of mechanical arm 4, the control system of mechanical arm 4 emulates space manipulator kinetic characteristics, controls machine
Space manipulator flexibility is simulated in 4 end of tool arm, and space manipulator flexibility in maintenance process is simulated in realization.In present embodiment
In, when needing to adjust the pose for the operator for being fixedly connected on 4 end of mechanical arm, mechanical arm 4 is sent by spacecraft 1 and is used
In the control instruction of actually control space manipulator, mechanical arm 4 simulates actual space manipulator according to the control instruction of transmission
Movement, the pose of operator is adjusted, and record operating point coordinate adjusted, realizes the man-machine association of maintainable technology on-orbit
With simulation, operator can operating point after the adjustment carry out maintainable technology on-orbit simulation.
Analogy method according to the present invention counteracts the self gravity of operator by using weightless flight device 2, from
And simulation that is simple and effective and really realizing weightlessness on the ground, so as to avoid gravity to spacecraft maintainable technology on-orbit
Influence.Meanwhile using weightless flight device 2 instead of neutral buoyancy sink so as to avoid water to operator's operation process
Viscous drag, further avoid the operation error as caused by viscous drag, and also effectively reduce and exist to spacecraft
The cost of rail maintenance simulation.It can be operated when abundant Simulated Spacecraft maintainable technology on-orbit by weightless flight device 2 and foot limiter 3
Relative pose between personnel and spacecraft, while can also prevent in simulation process foot limiter 3 due to operator's gravity
It destroys, improves the validity, accuracy and safety of spacecraft maintainable technology on-orbit process.
Analogy method according to the present invention, during spacecraft maintainable technology on-orbit is simulated, mechanical arm 4 acquires operator in real time
Member operation process in opposite force, and according to opposite force make mechanical arm 4 simulate space manipulator flexibility, thus authentic and valid
The motion state for simulating space manipulator during practical maintainable technology on-orbit, further improves the true of analogy method of the invention
Reality.Meanwhile the standard during ground simulation maintenance is further improved by the flexibility that mechanical arm 4 simulates space manipulator
True property.
Analogy method according to the present invention passes through Spacecraft Control mechanical arm 4 during spacecraft maintainable technology on-orbit is simulated
It simulates space manipulator and pose adjustment is carried out to operator, improve the one of ground simulation process and practical maintainable technology on-orbit operating condition
Cause property also provides support to improve the control of maintenance program and space manipulator.
Above content is only enumerating for concrete scheme of the invention, for the equipment and structure of wherein not detailed description, is answered
When being interpreted as that the existing common apparatus in this field and universal method is taken to be practiced.
The foregoing is merely a schemes of the invention, are not intended to restrict the invention, for the technology of this field
For personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of analogy method of maintainable technology on-orbit spacecraft, comprising:
S1. the body of operator is arranged on weightless flight device, and the foot of the operator is arranged in machinery
On the foot limiter of arm or spacecraft；
S2. move the first movement platform truck for being equipped with the weightless flight device and the adjustment foot limiter position or
Posture makes the operator arrive at maintenance position, and the operator is made to reach maintenance posture；
S3. the operator carries out the simulation of spacecraft maintainable technology on-orbit according to maintenance program；
When the operator carries out the simulation of spacecraft maintainable technology on-orbit, the mechanical arm is made to enter space manipulator flexibility simulation mould
Formula.
2. the analogy method of maintainable technology on-orbit spacecraft according to claim 1, which is characterized in that in step S1, will be located at
The initial angle in the joint of mechanical arm or the spaceborne foot limiter is adjusted to 0 °.
3. the analogy method of maintainable technology on-orbit spacecraft according to claim 2, which is characterized in that in step S2, pass through shifting
Employ makes the operator arrive at maintenance position in the second sliding platform for installing the mechanical arm, and makes the mechanical arm
On the foot limiter be arranged upward.
4. the analogy method of maintainable technology on-orbit spacecraft according to claim 3, which is characterized in that in step S2, pass through tune
Whole each joint angles of the mechanical arm, adjust the relative pose of the operator and spacecraft, reach the operator
Repair posture.
5. the analogy method of maintainable technology on-orbit spacecraft according to claim 3, which is characterized in that by adjusting the space flight
The angle in the joint of the foot limiter on device, makes the operator reach maintenance posture.
6. the analogy method of maintainable technology on-orbit spacecraft according to claim 1, which is characterized in that in step S3, the behaviour
Before making personnel according to maintenance program development spacecraft maintainable technology on-orbit simulation, to the relative pose of the operator and spacecraft
It is calibrated.
7. the analogy method of maintainable technology on-orbit spacecraft according to claim 6, which is characterized in that if the operator with
The relative pose of spacecraft meets the requirement of the maintenance program, then carries out the simulation of spacecraft maintainable technology on-orbit, otherwise readjust
The maintenance posture of operator.
8. the analogy method of maintainable technology on-orbit spacecraft according to claim 7, which is characterized in that the mechanical arm enters sky
After room machine arm flexibility simulation model, by acquiring the operator to the opposite force of the mechanical arm, to the mechanical arm
Motion control is carried out, the flexibility in operator's development spacecraft maintainable technology on-orbit simulation process is simulated.
9. the analogy method of maintainable technology on-orbit spacecraft according to claim 1, which is characterized in that by the sheet of the spacecraft
Body coordinate system and the coordinate system in place where the spacecraft are consistent.
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| CN201810176029.3A CN108394572B (en) | 2018-03-02 | 2018-03-02 | A kind of analogy method of maintainable technology on-orbit spacecraft |
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| CN201810176029.3A CN108394572B (en) | 2018-03-02 | 2018-03-02 | A kind of analogy method of maintainable technology on-orbit spacecraft |
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| CN108394572B true CN108394572B (en) | 2019-02-26 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113800010A (en) * | 2021-10-29 | 2021-12-17 | 北京卫星环境工程研究所 | Operating platform for maintaining external rail of space station cabin |
| CN114603603B (en) * | 2022-03-03 | 2023-01-31 | 深圳技术大学 | Ground simulation device and method for on-orbit operation of space manipulator |
| CN115180190B (en) * | 2022-08-24 | 2023-04-07 | 北京卫星环境工程研究所 | Ground simulation system and experimental method for on-orbit operation extra-cabin maintenance tool of astronaut |
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| US5499320A (en) * | 1993-03-24 | 1996-03-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Extended task space control for robotic manipulators |
| CN103569377A (en) * | 2012-08-06 | 2014-02-12 | 深圳航天东方红海特卫星有限公司 | Space target simulation system for on-orbit serving |
| CN104002301A (en) * | 2014-05-22 | 2014-08-27 | 清华大学深圳研究生院 | Ground experimental system for in-orbit fine operation of space robot |
| CN104021704A (en) * | 2014-03-25 | 2014-09-03 | 南京航空航天大学 | Gravity-changing walking simulation system used for astronaut training |
| CN107255938A (en) * | 2017-05-24 | 2017-10-17 | 北京空间技术研制试验中心 | A kind of outer maintainable technology on-orbit ground quick response of spacecraft module supports method |
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2018
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5499320A (en) * | 1993-03-24 | 1996-03-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Extended task space control for robotic manipulators |
| CN103569377A (en) * | 2012-08-06 | 2014-02-12 | 深圳航天东方红海特卫星有限公司 | Space target simulation system for on-orbit serving |
| CN104021704A (en) * | 2014-03-25 | 2014-09-03 | 南京航空航天大学 | Gravity-changing walking simulation system used for astronaut training |
| CN104002301A (en) * | 2014-05-22 | 2014-08-27 | 清华大学深圳研究生院 | Ground experimental system for in-orbit fine operation of space robot |
| CN107255938A (en) * | 2017-05-24 | 2017-10-17 | 北京空间技术研制试验中心 | A kind of outer maintainable technology on-orbit ground quick response of spacecraft module supports method |
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