CN111268183A - Space-borne space manipulator - Google Patents
Space-borne space manipulator Download PDFInfo
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- CN111268183A CN111268183A CN202010133103.0A CN202010133103A CN111268183A CN 111268183 A CN111268183 A CN 111268183A CN 202010133103 A CN202010133103 A CN 202010133103A CN 111268183 A CN111268183 A CN 111268183A
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- 239000012636 effector Substances 0.000 claims abstract description 155
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- 238000012544 monitoring process Methods 0.000 description 7
- 210000001503 joint Anatomy 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
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- 238000003491 array Methods 0.000 description 2
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- 239000002775 capsule Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
Abstract
The invention provides a space-borne space manipulator which comprises a first joint, a second joint, a third joint, a first end effector, a second end effector and a third end effector, wherein: the first joint, the second joint and the third joint are connected in series and realize six-degree-of-freedom motion; the first end effector, the second end effector, and the third end effector are mounted on the third joint, the third joint rotating to switch the first end effector, the second end effector, or the third end effector to face a target station; the target station comprises a satellite optical equipment surface, a solar cell array surface, an antenna station, a thruster station and a satellite star body surface; the first end effector comprises a cutting effector, the second end effector comprises a toggle effector, and the third end effector comprises a wiping effector.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a satellite-borne space manipulator.
Background
In space, the satellite is in a severe environment, and some unexpected phenomena often occur, such as undeployed solar cell arrays, multi-layer winding moving parts of extra-satellite thermal control, misdirection of solar cell arrays, pollution of optical lenses, deviation of air injection direction of thrusters and the like, which cause serious damage to satellite functions and even catastrophic satellite scrap. If a device is arranged on the satellite, the state of satellite extraterrestrial equipment can be monitored in real time, and maintenance processing is carried out under partial conditions, so that the reliability and the service life of the satellite are greatly improved.
The space mechanical arm system is the most widely and mature field of the space robot at present. The on-track verification was first achieved in the 90 s of the 20 th century. To date, hundreds of space robot-like machine developments or conceptual designs have been developed for technical validation of space manipulators or spacecraft mission requirements, and about 12 have completed in-orbit operational missions or have experienced flight. The mechanical arm system plays a great role in space construction, such as a remote operation arm of an American space shuttle, a remote operation SSRMS (2001-2009), an ingenious mechanical arm SPDM (SRMS, SSRMS and SPDM are manufactured by MDA company in Canada), a second generation robot astronaut Robonaut2, a Japanese laboratory capsule mechanical arm JEMRMS of an international space station, and a small space astronaut KIROBO (2013). In the coming years, more space robots enter the space to complete space missions or demonstration verification, such as European mechanical arm ERA of European Bureau and European robot Eurobot arm. SRMS serves on a Columbia space shuttle, and marks that the space manipulator is really put into space application; SSRMS play a significant role in the assembly of space stations; the JEMRMS installed on the Japanese laboratory practice (JEM) of the international space station is used for a robot experiment of the JEM or a maintenance service supporting the JEM, and consists of a main arm MA, a small flexible arm SFA and a control station.
The existing mechanical arm system is characterized by being mainly used for executing tasks such as cabin assembly and butt joint, cargo handling, load replacement, spacecraft inspection and the like; the structure is a joint series structure, contains 5-7 degrees of freedom, and comprises joints, an arm rod, an end effector and the like; the operation and the operation of the mechanical arm reach the designated position through multi-joint coordination, the operation is carried out on the target through the end effector, and the function of the end effector is designed according to the operation requirement; the mechanical arm system is generally matched with a vision sensor and a six-dimensional force sensor, and more end effector parts which directly act with the external environment are integrated with the sensors; the problems of space robot mechanism design, space-ground time delay teleoperation, path planning, vision measurement, servo and the like are solved.
However, the existing mechanical arm has large weight and volume, is mainly used for space stations or space shuttles and cannot be used for satellites; and the mechanical arm has single function, and is mainly used for executing tasks such as cabin assembly and butt joint, cargo handling, spacecraft inspection, load replacement matched with astronauts and the like.
Disclosure of Invention
The invention aims to provide a satellite-borne space manipulator to solve the problem that the existing manipulator cannot be mounted on a satellite.
In order to solve the above technical problem, the present invention provides a space-borne robot arm, which includes a first joint, a second joint, a third joint, a first end effector, a second end effector, and a third end effector, wherein:
the first joint, the second joint and the third joint are connected in series and realize six-degree-of-freedom motion;
the first end effector, the second end effector, and the third end effector are mounted on the third joint, the third joint rotating to switch the first end effector, the second end effector, or the third end effector to face a target station;
the target station comprises a satellite optical equipment surface, a solar cell array surface, an antenna station, a thruster station and a satellite star body surface;
the first end effector comprises a cutting effector, the second end effector comprises a toggle effector, and the third end effector comprises a wiping effector.
Optionally, in the satellite-borne space manipulator, the satellite-borne space manipulator further includes a base, a bending portion, a first straight arm and a second straight arm, wherein:
the base is fixed outside the satellite star body, and the bent part is connected between the base and the first joints; the first straight arm is connected between the first joint and the second joint; the second straight arm is connected between the second joint and the third joint;
a first degree of rotational freedom is provided between the base and the satellite star;
a second degree of freedom of rotation is provided between the first joint and the bent portion;
a third rotational degree of freedom is provided between the first joint and the first straight arm;
a fourth degree of rotational freedom is provided between the second joint and the first straight arm;
a fifth rotational degree of freedom is provided between the second joint and the second straight arm;
a sixth rotational degree of freedom between the third joint and the second straight arm;
a seventh rotational degree of freedom, an eighth rotational degree of freedom, and a ninth rotational degree of freedom are provided between the third joint and the first end effector, the second end effector, and the third end effector, respectively.
Optionally, in the space-borne robotic arm, the first straight arm has a first directional translational degree of freedom, and the second straight arm has a second directional translational degree of freedom.
Optionally, in the satellite-borne space manipulator, the first end effector, the second end effector, and the third end effector each further include a camera, and the number of the cameras is six.
Optionally, in the spaceborne space manipulator,
the third end effector cleans the surface of the satellite optical equipment in a wiping mode;
the first end effector and/or the second end effector process cable winding faults on the surface of the satellite star body in a cutting mode and/or a poking mode;
the first end effector and/or the second end effector process multilayer hooking faults on the surface of the satellite star body in a cutting mode and/or a poking mode;
the second end effector processes the failure that the antenna is not unfolded in a poking mode;
the second end effector processes the undeployed faults of the solar cell array in a poking mode;
the first end effector, the second end effector and the third end effector monitor the unfolding process of the solar cell array and whether the plume direction of the thruster is correct or not through a camera.
Optionally, in the satellite-borne space manipulator, the first joint, the second joint, and the third joint are driven to rotate by an ultrasonic motor, the ultrasonic motor includes a self-locking module, and when the ultrasonic motor detects that a reverse force is greater than a threshold value, the self-locking module turns off the ultrasonic motor.
In the satellite-borne space manipulator provided by the invention, the third joint rotates to switch the target stations such as the surface of a satellite optical device, the surface of a solar cell array, an antenna station, a thruster station and the surface of a satellite body, and the first end effector (a cutting effector), the second end effector (a shifting effector) or the third end effector (a wiping effector) faces the target stations such as the surface of a satellite optical device, the surface of a solar cell array, the antenna station, the thruster station and the surface of the satellite body, so that the satellite-borne space manipulator can respectively implement operation on the target through a plurality of end effectors, and the end effectors adopt multifunctional design, so that the satellite-borne space manipulator has the functions of monitoring, wiping, cutting and shifting.
According to the installation positions of the solar cell array, the thruster and the satellite optical equipment of the satellite, the installation position of the satellite-borne space manipulator is selected, so that the moving range of the satellite-borne space manipulator can cover the single-machine equipment.
The invention judges the fault type according to the cameras on the three end effectors, and selects different effectors to process according to the fault type.
The motor of the space-borne space manipulator adopts the ultrasonic motor, has the self-locking function, and has the advantages of large torque density, no need of a speed reducing mechanism, direct driving, no need of a braking mechanism, no need of lubrication, strong anti-electromagnetic interference capability and the like.
The invention designs a space manipulator for a miniature satellite by referring to a common space manipulator. At present, a plurality of flexible mechanical arms are arranged on the market, the weight is not more than 10 kilograms, the size is small after folding, the possibility of being installed on some high-value and large satellites can be achieved through special design and improvement, manufacturing with high cost is not needed, and the utilization prospect is wide.
Drawings
FIG. 1 is a schematic view of a spaceborne space robot arm according to an embodiment of the invention;
FIG. 2 is a schematic view of the degree of freedom of a space-borne robotic arm according to another embodiment of the present invention;
FIG. 3 is a schematic view of a spaceborne space robot arm of another embodiment of the present invention mounted on a satellite;
shown in the figure: 10-space-borne space manipulator; 11-a first joint; 12-a second joint; 13-third joint; 21-a first end effector; 22-a second end effector; 23-a third end effector; 24-a camera; 31-a base; 32-a bending part; 33-a first straight arm; 34-a second straight arm; 41-first rotational degree of freedom; 42-second rotational degree of freedom; 43-third rotational degree of freedom; 44-fourth rotational degree of freedom; 45-fifth rotational degree of freedom; 46-sixth rotational degree of freedom; 47-seventh rotational degree of freedom; 48-eighth rotational degree of freedom; 49-ninth rotational degree of freedom; 50-satellite.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The invention provides a satellite-borne space manipulator, which aims to solve the problem that the existing manipulator cannot be mounted on a satellite.
To achieve the above idea, the present invention provides a space manipulator on board a satellite, the space manipulator comprising a first joint, a second joint, a third joint, a first end-effector, a second end-effector and a third end-effector, wherein: the first joint, the second joint and the third joint are connected in series and realize six-degree-of-freedom motion; the first end effector, the second end effector, and the third end effector are mounted on the third joint, the third joint rotating to switch the first end effector, the second end effector, or the third end effector to face a target station; the target station comprises a satellite optical equipment surface, a solar cell array surface, an antenna station, a thruster station and a satellite star body surface; the first end effector comprises a cutting effector, the second end effector comprises a toggle effector, and the third end effector comprises a wiping effector.
< example one >
The present embodiment provides a space robot on board, as shown in fig. 1, comprising a first joint 11, a second joint 12, a third joint 13, a first end effector 21, a second end effector 22 and a third end effector 23, wherein: the first joint 11, the second joint 12 and the third joint 13 are connected in series, and six-degree-of-freedom motion is realized; the first end effector 21, the second end effector 22, and the third end effector 23 are mounted on the third joint 13, the third joint 13 rotates to switch the first end effector 21, the second end effector 22, or the third end effector 23 to face a target station; the target station comprises a satellite optical equipment surface, a solar cell array surface, an antenna station, a thruster station and a satellite star body surface; the first end effector 21 comprises a cutting effector, the second end effector 22 comprises a toggle effector, and the third end effector 23 comprises a wiping effector.
As shown in fig. 1-2, in the spaceborne space manipulator, the spaceborne space manipulator further includes a base 31, a bending portion 32, a first straight arm 33 and a second straight arm 34, wherein: the base 31 is fixed outside the satellite body, and the bent portion 32 is connected between the base 31 and the first joints 11; the first straight arm 33 is connected between the first joint 11 and the second joint 12; the second straight arm 34 is connected between the second joint 12 and the third joint 13; the base 31 and the satellite stars have a first rotational degree of freedom 41 therebetween; a second rotational degree of freedom 42 is provided between the first joint 11 and the bent portion 32; a third rotational degree of freedom 43 between the first joint 11 and the first straight arm 33; a fourth degree of freedom 44 of rotation between the second joint 12 and the first straight arm 33; a fifth rotational degree of freedom 45 between the second joint 12 and the second straight arm 34; a sixth degree of freedom 46 of rotation between the third joint 13 and the second straight arm 34; the third joint 13 has a seventh, an eighth and a ninth degree of freedom 47, 48, 49 in rotation between the first, second and third end effectors 21, 22, 23, respectively.
Further, in the space manipulator, the first straight arm 33 has a first translational degree of freedom, and the second straight arm 34 has a second translational degree of freedom. In the space manipulator, the first end effector 21, the second end effector 22 and the third end effector 23 each further include a camera 24, and the number of the cameras 24 is six.
Specifically, in the satellite space manipulator, the third end effector 23 cleans the surface of the satellite optical equipment by wiping; the first end effector 21 and/or the second end effector 22 process cable winding faults on the surface of the satellite star body in a cutting mode and/or a poking mode; the first end effector 21 and/or the second end effector 22 process multilayer hooking faults on the surface of the satellite star body in a cutting mode and/or a poking mode; the second end effector 22 handles the failure that the antenna is not unfolded in a toggle mode; the second end effector 22 processes the undeployed faults of the solar cell array in a poking mode; the first end effector 21, the second end effector 22 and the third end effector 23 monitor the unfolding process of the solar cell array and whether the direction of the plume of the thruster is correct through the camera 24.
In addition, in the space-borne space manipulator, the first joint 11, the second joint 12 and the third joint 13 are driven to rotate by an ultrasonic motor, the ultrasonic motor comprises a self-locking module, and when the ultrasonic motor detects that the reverse force is greater than a threshold value, the self-locking module turns off the ultrasonic motor. The motor of the space-borne space manipulator adopts the ultrasonic motor, has the self-locking function, and has the advantages of large torque density, no need of a speed reducing mechanism, direct driving, no need of a braking mechanism, no need of lubrication, strong anti-electromagnetic interference capability and the like.
In the satellite-borne space manipulator provided by the invention, the third joint 13 rotates to switch the target stations such as the surface of the satellite optical equipment, the surface of the solar cell array, the antenna station, the thruster station and the surface of the satellite star, and the first end effector 21 (cutting effector), the second end effector 22 (shifting effector) or the third end effector 23 (wiping effector) faces the target stations such as the surface of the satellite optical equipment, the surface of the solar cell array, the antenna station, the thruster station and the surface of the satellite star, so that the satellite-borne space manipulator can respectively implement the operation on the target by a plurality of end effectors, and the end effectors adopt a multifunctional design, so that the satellite-borne space manipulator has the functions of monitoring, wiping, cutting and shifting. For example, the wiping effector has monitoring and wiping functions; the cutting effector has monitoring and cutting functions; the toggle effector has monitoring and toggling (with clamping before toggling capability); the off-satellite multilayer hooking faults adopt a cutting effector or a poking effector; a toggle effect device is adopted for the winding fault of the extraterrestrial cable; the cleaning effect device is adopted for the pollution fault of the extraterrestrial optical equipment; a toggle effect device is adopted when the solar cell array fails to be unfolded; the failure that the antenna is not unfolded adopts a toggle effect device; any one effector is adopted for the solar cell array development monitoring; thruster plume monitoring employs either effector.
As shown in fig. 3, the present invention selects the installation position of the space robot 10 according to the installation positions of the solar cell array, the thruster, and the satellite optical equipment of the satellite 50, so that the range of motion of the space robot 10 can cover these single-machine equipments. The invention judges the fault type according to the cameras 24 on the three end effectors, and selects different effectors to process according to the fault type.
The invention designs a space manipulator for a miniature satellite by referring to a common space manipulator. At present, a plurality of flexible mechanical arms are arranged on the market, the weight is not more than 10 kilograms, the size is small after folding, the possibility of being installed on some high-value and large satellites can be achieved through special design and improvement, manufacturing with high cost is not needed, and the utilization prospect is wide.
In summary, the above embodiments describe the different configurations of the space manipulator on board the satellite in detail, and it goes without saying that the present invention includes but is not limited to the configurations listed in the above embodiments, and any modifications based on the configurations provided in the above embodiments are within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (6)
1. A space manipulator on-board a space manipulator, comprising a first joint, a second joint, a third joint, a first end-effector, a second end-effector, and a third end-effector, wherein:
the first joint, the second joint and the third joint are connected in series and realize six-degree-of-freedom motion;
the first end effector, the second end effector, and the third end effector are mounted on the third joint, the third joint rotating to switch the first end effector, the second end effector, or the third end effector to face a target station;
the target station comprises a satellite optical equipment surface, a solar cell array surface, an antenna station, a thruster station and a satellite star body surface;
the first end effector comprises a cutting effector, the second end effector comprises a toggle effector, and the third end effector comprises a wiping effector.
2. The spaceborne robot arm as claimed in claim 1 further comprising a base, a bend, a first straight arm and a second straight arm wherein:
the base is fixed outside the satellite star body, and the bent part is connected between the base and the first joints; the first straight arm is connected between the first joint and the second joint; the second straight arm is connected between the second joint and the third joint;
a first degree of rotational freedom is provided between the base and the satellite star;
a second degree of freedom of rotation is provided between the first joint and the bent portion;
a third rotational degree of freedom is provided between the first joint and the first straight arm;
a fourth degree of rotational freedom is provided between the second joint and the first straight arm;
a fifth rotational degree of freedom is provided between the second joint and the second straight arm;
a sixth rotational degree of freedom between the third joint and the second straight arm;
a seventh rotational degree of freedom, an eighth rotational degree of freedom, and a ninth rotational degree of freedom are provided between the third joint and the first end effector, the second end effector, and the third end effector, respectively.
3. The spaceborne space manipulator as claimed in claim 2 wherein said first straight arm has a first degree of translational freedom and said second straight arm has a second degree of translational freedom.
4. The space manipulator as claimed in claim 1, wherein each of said first end-effector, said second end-effector and said third end-effector further comprises six cameras.
5. The space manipulator according to claim 4,
the third end effector cleans the surface of the satellite optical equipment in a wiping mode;
the first end effector and/or the second end effector process cable winding faults on the surface of the satellite star body in a cutting mode and/or a poking mode;
the first end effector and/or the second end effector process multilayer hooking faults on the surface of the satellite star body in a cutting mode and/or a poking mode;
the second end effector processes the failure that the antenna is not unfolded in a poking mode;
the second end effector processes the undeployed faults of the solar cell array in a poking mode;
the first end effector, the second end effector and the third end effector monitor the unfolding process of the solar cell array and whether the plume direction of the thruster is correct or not through a camera.
6. The space-borne robotic arm according to claim 1, wherein said first joint, said second joint, and said third joint are rotated by an ultrasonic motor, said ultrasonic motor comprising a self-locking module that turns said ultrasonic motor off when said ultrasonic motor detects a reverse force greater than a threshold value.
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| CN202010133103.0A CN111268183A (en) | 2020-03-01 | 2020-03-01 | Space-borne space manipulator |
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| CN202010133103.0A CN111268183A (en) | 2020-03-01 | 2020-03-01 | Space-borne space manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114069464A (en) * | 2021-11-22 | 2022-02-18 | 北京卫星环境工程研究所 | Cable float-proof device for on-rail maintenance |
| CN114368495A (en) * | 2022-03-22 | 2022-04-19 | 中国人民解放军战略支援部队航天工程大学 | Two-degree-of-freedom integrated joint for multi-body satellite torsion bending allosteric |
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| CN110202598A (en) * | 2019-06-18 | 2019-09-06 | 博达特智能科技（昆山）有限公司 | A kind of multistation composite fixture |
| CN110395414A (en) * | 2019-07-26 | 2019-11-01 | 南京航空航天大学 | A kind of robot of space-oriented maintenance activity |
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| CN114368495A (en) * | 2022-03-22 | 2022-04-19 | 中国人民解放军战略支援部队航天工程大学 | Two-degree-of-freedom integrated joint for multi-body satellite torsion bending allosteric |
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