CN110884696B - Intermittent contact type racemization method for space rolling target based on relative ellipse configuration - Google Patents

Intermittent contact type racemization method for space rolling target based on relative ellipse configuration Download PDF

Info

Publication number
CN110884696B
CN110884696B CN201911035893.2A CN201911035893A CN110884696B CN 110884696 B CN110884696 B CN 110884696B CN 201911035893 A CN201911035893 A CN 201911035893A CN 110884696 B CN110884696 B CN 110884696B
Authority
CN
China
Prior art keywords
space
target
robot
despinning
relative
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201911035893.2A
Other languages
Chinese (zh)
Other versions
CN110884696A (en
Inventor
李智
程文华
张雅声
汤亚峰
王磊
徐灿
刁华飞
陈宁
卢旺
郝思佳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Peoples Liberation Army Strategic Support Force Aerospace Engineering University
Original Assignee
Peoples Liberation Army Strategic Support Force Aerospace Engineering University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Peoples Liberation Army Strategic Support Force Aerospace Engineering University filed Critical Peoples Liberation Army Strategic Support Force Aerospace Engineering University
Priority to CN201911035893.2A priority Critical patent/CN110884696B/en
Publication of CN110884696A publication Critical patent/CN110884696A/en
Application granted granted Critical
Publication of CN110884696B publication Critical patent/CN110884696B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G4/00—Tools specially adapted for use in space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a relative ellipse configuration-based intermittent contact type racemization method for a space tumbling target, which comprises the following steps: from the safety perspective, determining a despinning contact point position based on a space rolling target and an envelope of a space despinning robot; determining the configuration of a space despinning robot mechanical arm according to the principle of minimum influence on a platform; and determining the relative elliptical configurations of the space despinning robot and the space rolling target according to the position of the despinning contact point and the configuration of the mechanical arm. The relative elliptical configuration determines the relative position posture relationship between the space despinning robot and the space rolling target, so that the end effector of the space despinning robot periodically contacts the target under the action of relative orbit dynamics, and applies a despin force and a despin moment to the target to despin the target. The invention can utilize the periodicity and hovering characteristics of the relative orbit to the maximum extent and realize safe and effective despin of the space target.

Description

Intermittent contact type racemization method for space rolling target based on relative ellipse configuration
Technical Field
The invention relates to a relative ellipse configuration-based intermittent contact type despinning method for a space rolling target, belongs to the technical field of aerospace, is used for a space despinning robot to approach the space despinning target, and is favorable for smooth implementation of on-orbit service and active removal of space debris.
Background
Since the time that mankind entered the space era in 1957, the amount of space debris was far greater than the number of satellites that normally operate. Statistically, by 1 month 2019, humans have had a total of about 5500 shots with 19404 large objects in earth orbit, including 4972 satellites and 14432 fragments. It can be seen that in these large space targets only about 1/4 are satellites, but less than 1/3 are controllable; about 1/5 are rocket bodies and other mission-related objects, the remainder being irregular debris. The increasing number of fragments greatly threatens the safety of the existing satellite and the subsequent space mission. A prerequisite for active clearance of space debris is that the relative angular velocity between the debris and the platform is within a certain range. But these fragments often carry complex postural movements including spinning, precessional nutation, random tumbling, etc., which greatly affect active clearance. Therefore, the debris needs to be despuned before active cleaning, so that the posture is in a more stable state.
Racemization can be divided into relative racemization and absolute racemization. The relative rotation is to change the motion state of the robot by utilizing the self-adjusting capability of the space rotation robot without changing the motion state of the target, so as to meet the constraint of the relative motion state, for example, the approach from the target spin axis direction is a typical relative rotation strategy. The absolute rotation changes the motion state of the target through the direct or indirect interaction between the space rotation robot and the target, so that the target posture is stable, and the capture condition is further met. In principle, the main operation of de-spinning a target is to apply an additional torque to the target, and depending on the source of the torque, de-spinning can be classified as: contact racemization and non-contact racemization; according to the difference of a racemization mechanism, subdivision can also be carried out. In recent years, a lot of research on how to despin targets at home and abroad has been carried out, and certain results including friction contact despin, electromagnetic despin, electrostatic despin, jet despin, auxiliary device despin, rope net despin and the like have been accumulated. However, from the perspective of technical maturity and energy consumption, the engineering feasibility of friction contact racemization is greatest among the several methods.
Disclosure of Invention
The invention provides a space rolling target intermittent contact type racemization method based on a relative ellipse configuration aiming at the stability requirements of on-orbit service and space debris removal on the attitude motion of a space target, and by combining the motion rule characteristics of a service satellite relative to the target. The configuration strategy can avoid the complex orbit attitude maneuver of the space racemization robot in the process of approaching an operation target, reduce the risk of the racemization process and improve the feasibility of successful racemization.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention discloses a relative ellipse configuration-based intermittent contact type racemization method for a space tumbling target, which comprises the following steps:
the method comprises the following steps: from the safety perspective, determining a despinning contact point position based on a space rolling target and an envelope of a space despinning robot;
step two: determining the configuration of a mechanical arm of the space despinning robot according to the principle of minimum influence on the space despinning robot;
step three: and determining the relative elliptical configurations of the space despinning robot and the space rolling target according to the position of the despinning contact point given in the step one and the configuration of the mechanical arm given in the step two.
The safety angle in the first step comprises the following steps: when a contact point is selected for contact despinning, the generated contact force and contact moment can not damage a despinning robot and a space rolling target; the contact force and the contact torque are generated by the flexible deformation of the flexible brush and the relative friction between the flexible brush and the target surface, and are calculated through a light rod model in material mechanics and a coulomb friction model in friction mechanics;
the envelope of the space rolling target is a sphere with the maximum distance of the accessory edge point relative to the center of mass of the target as the radius; the envelope of the space racemization robot comprises an inner envelope and an outer envelope, wherein the inner envelope refers to a work reachable region at the tail end of a mechanical arm of the space racemization robot, and the outer envelope refers to a reachable region of a flexible brush at the tail end of the mechanical arm of the space racemization robot.
The space despinning robot comprises a satellite platform, a mechanical arm and an end effector; the satellite platform is in a 'central rigid body + single-side solar sailboard' configuration and mainly provides orbit and attitude control for the space racemization robot; the mechanical arm adopts an elbow type mechanical arm and spherical wrist configuration, is mainly responsible for conveying the end effector to the vicinity of a target and controlling the position posture of the end effector relative to the target; the end effector is designed as a flexible brush, can be equivalent to a translational joint with a fixed length, and is mainly used for despinning a target.
And the despinning contact point in the step one is the position of the edge of the target envelope body and the connecting line of the space despinning robot and the target centroid.
The principle of the second step that the space racemization robot is least affected comprises the following steps: the trace of the singular characteristic matrix of the Jacobian matrix is taken as an evaluation index;
the configuration of the spatial racemization robot mechanical arm in the second step comprises the following steps: the flexible brush and the mechanical arm connecting rod are located on the same straight line, and the straight line passes through the origin of a satellite platform body coordinate system.
Further, the spatial rotation-eliminating robot is equivalent to a connecting rod system comprising 6 rotating joints and 3 translation joints;
the connection between the space despinning robot mechanical arm and the satellite platform is equivalent to a translation joint; the connection between the flexible brush at the tail end of the space despinning robot and the mechanical arm is equivalent to two translation joints.
And the relative elliptical configurations of the space despinning robot and the space rolling target in the third step adopt a closed relative elliptical configuration determined according to a Hill equation.
Wherein the center point of the closed relative ellipse is located on the V-bar axis of the Hill coordinate system.
The size of the semi-major axis of the ellipse is determined by the center position of the ellipse, the radius of the target enveloping body, the radius of the inner enveloping body and the outer enveloping body of the space racemization robot and the nearest distance from the closed relative ellipse to the target.
Further, the closest distance from the closed relative ellipse to the target is determined by the center position of the ellipse and the semimajor axis of the ellipse, and the inner enveloping body of the space despun robot is not intersected with the enveloping body of the target, but the outer enveloping body is intersected with the enveloping body of the target, namely the flexible brush is contacted with the target while the mechanical arm cannot collide with the target.
The relative elliptical configuration designed by the invention determines the relative position posture relation between the space despinning robot and the space rolling target, so that the end effector of the space despinning robot periodically contacts the target under the action of relative orbit dynamics, and applies a despin force and a despin moment to the target to despin the target.
Drawings
Fig. 1 is a schematic structural diagram of a spatial despinning robot.
FIG. 2 is a schematic view of a contact racemization mechanical arm configuration.
Fig. 3 is a schematic diagram of an envelope.
Fig. 4 is a schematic diagram of the relative motion of the space despinning robot and the space rolling object.
Fig. 5 is a schematic view of a closed relatively elliptical configuration.
FIG. 6 is a schematic diagram of batch contact racemization (X)0>2S)。
FIG. 7 is a schematic diagram of batch contact racemization (1.5S)<X0<2S)。
FIG. 8 is a schematic diagram of batch contact racemization (X)0<1.5S)。
FIG. 9 is a schematic diagram of batch contact racemization (X)0＝0)。
Fig. 10 is a schematic diagram of batch contact racemization (S ═ 0).
Fig. 11 is a schematic view of the contact force.
FIG. 12 is a diagram illustrating variation of parameters in a simulation process.
Detailed Description
Example one
The embodiment of the invention discloses a relative ellipse configuration-based intermittent contact type racemization method for a space tumbling target, which comprises the following steps:
the method comprises the following steps: from the safety perspective, the position of the racemization contact point is determined based on the space tumbling object and the enveloping body of the space racemization robot.
Wherein, safe angle includes: when the contact points are selected for contact despinning, the generated contact force and contact moment can not cause damage to the despin robot and the space rolling target. The space despinning robot comprises a satellite platform, a mechanical arm and an end effector.
The structure of the space despinning robot is as follows: as shown in fig. 1, the spatial despinning robot of the invention adopts a configuration of a satellite platform, a mechanical arm and an end effector; the satellite platform is in a 'central rigid body + single-side solar sailboard' configuration and mainly provides orbit and attitude control for the space racemization robot; the mechanical arm adopts an elbow type mechanical arm and spherical wrist configuration, is mainly responsible for conveying the end effector to the vicinity of a target and controlling the position posture of the end effector relative to the target; the end effector is designed as a flexible brush, can be equivalent to a translational joint with a fixed length, and is mainly used for despinning a target.
The despin contact point position is the position of the edge of the target envelope body and passing through the connecting line of the space despin robot and the target centroid. Specifically, different racemization contact points bring different racemization effects, and when the racemization contact point is selected, two aspects need to be considered: firstly, the selected contact point can cause a relatively ideal racemization effect; and secondly, the contact force and the contact moment generated during contact cannot damage the space despinning robot and the target.
The space tumbling object may be represented by an envelope, and particularly when the object has a large appendage, the maximum distance of its appendage edge point from the object centroid may be taken as the radius of the envelope, as shown in fig. 2.
From a safety perspective, the farther the contact point is from the target center, the fewer components that may be encountered during despinning, and the lower the risk, therefore, the contact point should be as far away from the target centroid as possible and the despinning contact point should select the edge point of the target envelope.
Typically, the position on the target furthest from the centre point is the edge of the solar panel, which is often thin and fragile due to process and emission quality constraints, and which can be subjected to limited external forces and moments. The contact force and the contact moment can be changed by changing the distance between the flexible brush and the target, so that the contact force borne by the sailboard can be controlled below a safety margin; in addition, the contact force generated during the contact is enabled to pass through the center of mass of the robot in a despun mode in the whole space as much as possible, and the posture interference caused by the contact is reduced. Therefore, the strategy selects the position of the edge of the target solar panel and passing through the connecting line of the platform and the target centroid as the despun contact point.
Step two: and determining the configuration of the spatial racemic robot mechanical arm on the principle of minimum influence on the platform.
The spatial racemization robot mechanical arm configuration comprises: the flexible brush and the mechanical arm connecting rod are located on the same straight line, and the straight line passes through the origin of a satellite platform body coordinate system. In the process of contact racemization, the contact force between the flexible brush and the target also has an influence on the space racemization robot, so when the configuration design of the contact racemization mechanical arm is carried out, the important consideration is how to make the influence of the contact reaction force on the satellite platform body of the space racemization robot as small as possible in the racemization process.
When the end of the mechanical arm is subjected to forces and moments F and M, the external moment applied to each joint can be expressed as
Figure GDA0003010411100000051
The influence of the square sum of the moments borne by each joint as external force on the space despinning robot is taken as the
Figure GDA0003010411100000052
In the above formula, F and M are external force and external moment, and are independent of the mechanical arm configuration, so that only the middle term JJ is neededTAt a minimum, further consideration may be given to analyzing JJTTrace tr (JJ)T) Assuming that the flexible brush length is L, the jacobian matrix J of the robot arm, at this time tr (JJ)T) Is composed of
Figure GDA0003010411100000055
The formula (26) is used for solving the partial derivative equation of each joint angle respectively and obtaining the deviation by simultaneous solution
Figure GDA0003010411100000053
θ3＝θ4＝0
At this time, the configuration of the mechanical arm is as shown in fig. 3, the optimal mechanical arm configuration is that the flexible brush and the mechanical arm connecting rod are located on a straight line, and the straight line passes through the origin of the satellite platform body coordinate system; in addition, the mechanical arm with the structure pulls away the distance between the mechanical arm and the platform and the target, and the safety of a despin system is improved.
The principle of minimal impact on the platform includes: and taking the trace of the singular characteristic matrix of the jacobian matrix of the mechanical arm as an evaluation index.
Step three: and determining the relative elliptical configurations of the space despinning robot and the space rolling target according to the position of the despinning contact point given in the step one and the configuration of the mechanical arm given in the step two.
The relative elliptical configuration of the space despinning robot and the space rolling target adopts a closed relative elliptical configuration determined according to a Hill equation, and the specific configuration of the relative ellipse can be adjusted according to different task requirements. Specifically, the relative motion between the space despinning robot and the space tumbling object is shown in fig. 4The relative movement is described generally in a target orbital coordinate system (Hill system), in particular the X-axis of Hill system is also referred to as V-bar, the Y-axis is also referred to as H-bar and the Z-axis is also referred to as R-bar. To facilitate marking, appointmentИRepresenting the component form of the vector in the system. Let ρ bec、ρtPosition vectors of a satellite platform and a target are respectively, mu is a gravity constant, and the orbit dynamics includes:
Figure GDA0003010411100000054
wherein, acAnd atPlatform and target accelerations caused by perturbation forces and control forces.
The position vector of the satellite platform relative to the target is:
ρ＝ρc-ρt (6)
deriving ρ:
Figure GDA0003010411100000061
let ρ be the coordinates in the Hill system:
ρ|Hill＝[x y z]T (8)
relative motion is expressed in the Hill line as:
Figure GDA0003010411100000062
where ω is the orbital angular velocity vector of the target. The vectors in the above formula are all expressed in Hill system, and the expression components are as follows:
Figure GDA0003010411100000063
ρt|Hill＝[0 0 -ρt]T
ρc|Hill＝[x y z -ρt]T
fc|Hill＝[acx acy acz]T
ft|Hill＝[atx aty atz]T
substituting the component form into formula (9) to obtain
Figure GDA0003010411100000064
Is finished to obtain
Figure GDA0003010411100000065
Figure GDA0003010411100000066
Figure GDA0003010411100000067
When studying orbital motion, the earth and satellites can generally be considered as particles, so the earth-center distance between the satellite platform and the target, the orbital angular velocity and the angular acceleration of the target can be expressed as:
Figure GDA0003010411100000071
Figure GDA0003010411100000072
Figure GDA0003010411100000073
wherein a is a semimajor axis, e is an eccentricity, and theta is a true paraxial point angle. Equations (11) and (12) are the exact equations of relative motion dynamics. For research convenience, if the target runs on a circular orbit or a near circular orbit and the distance between the satellite platform and the target is far less than the radius of the orbit, the target is moved to the position of the target
Figure GDA0003010411100000074
Figure GDA0003010411100000075
Figure GDA0003010411100000076
Substituting the formula (13) into the formula (11) and finishing to obtain
Figure GDA0003010411100000077
Figure GDA0003010411100000078
Figure GDA0003010411100000079
In order to facilitate the design of a path planning and control system later, the relative motion equation is expressed in a state equation form
Figure GDA00030104111000000710
Equation (14) is the Hill equation describing the relative motion between the platform and the target. As can be seen from the equation, the state of the y direction is independent of the x and z directions, which shows that the relative motion described by the Hill equation is decoupled from the motion in the orbital plane and out of the orbital plane, and the relative motion is decomposed into two parts of the in-orbital plane and out-of-orbital plane to be expressed
Figure GDA0003010411100000081
Figure GDA0003010411100000082
Assuming no external force is applied, i.e. a is 0, the above equation has an analytical solution of
Figure GDA0003010411100000083
Figure GDA0003010411100000084
Figure GDA0003010411100000085
For the in-plane motion of the track, the formula (17) is arranged to obtain
Figure GDA0003010411100000086
Wherein
Figure GDA0003010411100000087
Figure GDA0003010411100000088
Figure GDA0003010411100000089
Equation (18) shows that the trajectory of the relative motion in the orbital plane is an ellipse. The locus of the ellipse is defined by X0、Z0And S. The center of the ellipse is (X)0,Z0) Parallel to the V-bar axis over time; the major semi-axis is 2S and the major axis is twice the minor axis. In particular, when X0When the time term coefficient in (1) is 0, i.e.
Figure GDA00030104111000000810
The equation of motion can be expressed as
Figure GDA00030104111000000811
At this point, the center of the plane movement ellipse will be fixed a little bit on the V-bar axis, as shown in FIG. 5. Different X0And S determines the relative position relationship between the platform and the target, see Table 1.
TABLE 1 relative position relationship between the platform and the target under different initial conditions
Figure GDA0003010411100000091
From the formula (14)
Figure GDA0003010411100000092
The above formula shows that when z is larger than 0, x is continuously increased, which indicates that the running direction of the elliptical orbit is clockwise. Further analysis, when S equals 0, the trajectory converges to the ellipse center point (x)00), at which time the initial relative state of the platform and target needs to be satisfied
Figure GDA0003010411100000101
This is also a condition for the platform to achieve fixed point hold on the target in an uncontrolled state.
The relative elliptical configuration between the space racemization robot and the target specifically comprises: introducing the concept of inclusion bodies, the batch type contact racemization can be divided into the following four cases according to the difference of the cases in Table 1.
(1)X0>2S
As shown in FIG. 6, the circular region at the intersection of the left V-bar axis and the R-bar axis represents the envelope of the spatial target with a radius Ls(ii) a The inner area of the circular area of the envelope of the right next to the space target represents the work reachable area of the tail end of the mechanical arm of the space despinning robot, and the radius is Lr(ii) a The outer area of the circular area of the envelope next to the space target on the right represents the reachable area of the flexible brush at the end of the mechanical arm of the space despinning robot, and the radius of the reachable area is Lb. If safe rotation is to be realized, the flexible brush is contacted with the target while the mechanical arm cannot collide with the target, so that the relative position between the platform and the target is satisfied
Figure GDA0003010411100000102
Wherein L is the flexible brush length.
In this case, the spatial despinning robot has only one chance of approaching the target to perform despinning operation in one orbit period, and this configuration is suitable for low-orbit targets.
(2)1.5S<X0<2S
In this case, as shown in fig. 7, the spatial despinning robot has only one chance of approaching the target to perform despinning once in one orbit period, and the relative position between the platform and the target should satisfy
Ls+Lr＜2S-X0＜Ls+Lb (24)
This configuration is also more suitable for low-rail targets, similar to the former case.
(3)0<X0<1.5S
As shown in fig. 8, in this case, the spatial despinning robot will form two despinning opportunities in one orbit period, and the position relationship between the platform and the target should satisfy
Figure GDA0003010411100000103
Although only one racemization opportunity is increased in a single orbital cycle, in general, two to three racemization opportunities are increased in one racemization task, and the racemization purpose can be better achieved.
(4)X0＝0
As shown in FIG. 9, this case is similar to the above case, and there are two contact racemization opportunities in this case, and the relative positional relationship satisfies
Ls+Lr＜S＜Ls+Lb (26)
It can be seen that in the above four cases, the first two cases are only suitable for the low-orbit space target, and the last two cases can also be used for despinning the high-orbit target in addition to the low-orbit target.
Further, when the spatial racemization robot satisfies equation (18), the fixed-point hovering over the target can be achieved, and at this time, the contact racemization situation is as shown in fig. 10.
In this case, the relative distance between the space despinning robot and the target is kept constant at the safe distance, but intermittent contact despinning of the target can be realized by adjusting the motion of the mechanical arm, and the space despinning robot is suitable for all targets, and at this time, the relative position relation satisfies
Ls+Lr＜X0＜Ls+Lb (27)
An embodiment of the invention
Assuming that the flexible brush is a light rod (with small mass compared with the target), the target state is not affected at the moment of collision, but the contact force and the contact torque after contact change the posture of the target, when the strategy of the invention is adopted, a space despinning robot and the contact force of the target are schematically shown in fig. 11.
During the contact process, the rotating target is acted by a flexible force, and the flexible force is formed by the flexibility x of the flexible brushPAnd (6) determining. Wherein the direction is perpendicular to the tangent line at P, and F is known from material mechanics knowledgeallThe values of (A) are:
Figure GDA0003010411100000111
where EI is the flexural rigidity of the material, /)EPThe distance EP 'from P' to E projected on OE by contact point P is easily obtained
Figure GDA0003010411100000112
Figure GDA0003010411100000113
Figure GDA0003010411100000114
At this time, the turning angle caused by elastic deformation at P is:
Figure GDA0003010411100000115
the flexural force can be decomposed into FNAnd FTAssuming that the angle that the rotating target rotates at this time is θ (t), the geometric relationship can be given as follows:
Figure GDA0003010411100000116
the friction model adopts a classical coulomb friction model and has a friction coefficient of muSThen, then
FS＝μS·Fall (32)
The friction force can also be divided into FSNAnd FSTFrom geometric relationships
Figure GDA0003010411100000121
In summary, the contact force and contact torque experienced by the target are:
Figure GDA0003010411100000122
it is assumed that the flexible brush can be quickly returned to the initial state before each racemization. The simulation parameter settings are shown in table 2.
Table 2 contact racemization simulation parameter set-up
Figure GDA0003010411100000123
The rotation target attitude angle, attitude angular velocity, contact force, and contact torque vary, as shown in fig. 12. From the simulation result, the target undergoes 7 times of racemization within the simulation time period, the angular speed is reduced from the original 10 degrees/s to 1.475 degrees/s, and the effectiveness and feasibility of the strategy are verified.

Claims (6)

1. An intermittent contact type racemization method for a space tumbling target based on a relative ellipse configuration is characterized by comprising the following steps:
the method comprises the following steps: from the safety perspective, determining a despinning contact point position based on a space rolling target and an envelope of a space despinning robot;
step two: determining the configuration of a mechanical arm of the space despinning robot according to the principle of minimum influence on the space despinning robot;
step three: determining the relative elliptical configurations of the space despinning robot and the space rolling target according to the position of the despinning contact point given in the step one and the configuration of the mechanical arm given in the step two;
the safety angle in the first step comprises the following steps: when a contact point is selected for contact despinning, the generated contact force and contact moment can not damage a despinning robot and a space rolling target; the contact force and the contact torque are generated by the flexible deformation of the flexible brush and the relative friction between the flexible brush and the target surface, and are calculated through a light rod model in material mechanics and a coulomb friction model in friction mechanics; the envelope of the space rolling target is a sphere with the maximum distance of the accessory edge point relative to the center of mass of the target as the radius; the envelope of the space racemization robot comprises an inner envelope and an outer envelope, wherein the inner envelope is a work reachable region at the tail end of a mechanical arm of the space racemization robot, and the outer envelope is a reachable region of a flexible brush at the tail end of the mechanical arm of the space racemization robot; the space despinning robot comprises a satellite platform, a mechanical arm and an end effector; the satellite platform is in a 'central rigid body + single-side solar sailboard' configuration and mainly provides orbit and attitude control for the space racemization robot; the mechanical arm adopts an elbow type mechanical arm and spherical wrist configuration, is mainly responsible for conveying the end effector to the vicinity of a target and controlling the position posture of the end effector relative to the target; the end effector is designed into a flexible brush, can be equivalent to a translational joint with a fixed length, and is mainly used for despin a target;
the principle of the second step that the space racemization robot is least affected comprises the following steps: the trace of the singular characteristic matrix of the Jacobian matrix is taken as an evaluation index; the configuration of the spatial racemization robot mechanical arm in the second step comprises the following steps: the flexible brush and the mechanical arm connecting rod are positioned on a straight line, and the straight line passes through the origin of a coordinate system of the satellite platform body;
and the relative elliptical configurations of the space despinning robot and the space rolling target in the third step adopt a closed relative elliptical configuration determined according to a Hill equation.
2. The method of claim 1, wherein the despinning contact point in the first step is a position at the edge of the target envelope and passing through a connecting line between the spatial despinning robot and the target centroid.
3. The method of claim 1 or 2, wherein the space-racemization robot is equivalent to a link system comprising 6 rotational joints and 3 translational joints;
the connection between the space despinning robot mechanical arm and the satellite platform is equivalent to a translation joint; the connection between the flexible brush at the tail end of the space despinning robot and the mechanical arm is equivalent to two translation joints.
4. The method of claim 1, wherein a center point of the closed relative ellipse is located on a V-bar axis of a Hill coordinate system.
5. The method of claim 4, wherein the size of the semi-major axis of the ellipse is determined by the ellipse center position, the target envelope radius, the spatial despinning robot inner and outer envelope radii, and the closest distance of the closed relative ellipse to the target.
6. The method of claim 5, wherein the closest distance of the closed relative ellipse to the target is determined by the ellipse center position and the ellipse semi-major axis, and the requirement is that the inner envelope of the spatial despun robot does not intersect the envelope of the target and the outer envelope intersects the envelope of the target, i.e., the robotic arm cannot collide with the target while the flexible brush is in contact with the target.
CN201911035893.2A 2019-10-29 2019-10-29 Intermittent contact type racemization method for space rolling target based on relative ellipse configuration Active CN110884696B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911035893.2A CN110884696B (en) 2019-10-29 2019-10-29 Intermittent contact type racemization method for space rolling target based on relative ellipse configuration

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911035893.2A CN110884696B (en) 2019-10-29 2019-10-29 Intermittent contact type racemization method for space rolling target based on relative ellipse configuration

Publications (2)

Publication Number Publication Date
CN110884696A CN110884696A (en) 2020-03-17
CN110884696B true CN110884696B (en) 2021-08-03

Family

ID=69746517

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911035893.2A Active CN110884696B (en) 2019-10-29 2019-10-29 Intermittent contact type racemization method for space rolling target based on relative ellipse configuration

Country Status (1)

Country Link
CN (1) CN110884696B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113900374B (en) * 2021-09-14 2023-06-09 西北工业大学 Safe robust predictive control method for non-contact racemization of invalid rolling satellite

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106394941A (en) * 2016-09-09 2017-02-15 西北工业大学 Method for racemizing space non-magnetized metal debris
CN107128513A (en) * 2017-04-12 2017-09-05 西北工业大学 A kind of space junk racemization rod member and racemization method
CN107651220A (en) * 2017-09-08 2018-02-02 中国人民解放军战略支援部队航天工程大学 A kind of modularization satellite and the method for evading space junk
CN108820265A (en) * 2018-07-09 2018-11-16 河北工业大学 A kind of flexible terminal actuator for space junk racemization

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106394941A (en) * 2016-09-09 2017-02-15 西北工业大学 Method for racemizing space non-magnetized metal debris
CN107128513A (en) * 2017-04-12 2017-09-05 西北工业大学 A kind of space junk racemization rod member and racemization method
CN107651220A (en) * 2017-09-08 2018-02-02 中国人民解放军战略支援部队航天工程大学 A kind of modularization satellite and the method for evading space junk
CN108820265A (en) * 2018-07-09 2018-11-16 河北工业大学 A kind of flexible terminal actuator for space junk racemization

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
空间机器人抓捕旋转目标体的策略与控制研究;徐利川;《中国优秀硕士学位论文全文数据库》;20180415;全文 *

Also Published As

Publication number Publication date
CN110884696A (en) 2020-03-17

Similar Documents

Publication Publication Date Title
EP1728600B1 (en) Controlling the trajectory of an effector
Gosselin et al. The agile eye: a high-performance three-degree-of-freedom camera-orienting device
Qiang et al. A back-stepping based trajectory tracking controller for a non-chained nonholonomic spherical robot
Uyama et al. Hybrid impedance/position control of a free-flying space robot for detumbling a noncooperative satellite
CN109015658A (en) It is a kind of for capturing the Dual-arm space robot control method of Tum bling Target
CN110884696B (en) Intermittent contact type racemization method for space rolling target based on relative ellipse configuration
CN110641738B (en) Trajectory tracking control method of space five-degree-of-freedom free flying mechanical arm
Zhang et al. Nonholonomic motion planning for minimizing base disturbances of space manipulators based on multi-swarm PSO
Zang et al. Multipoint contact dynamics and the detumbling strategy for a fast-tumbling target
US20230311341A1 (en) Gripper mechanism
Murakami et al. Motion planning for catching a light-weight ball with high-speed visual feedback
Sadati et al. Singularity-free planning for a robot cat free-fall with control delay: Role of limbs and tail
Nishida et al. Dynamical simulations for space debris capture
Jin et al. A motion planning method based vision servo for free-flying space robot capturing a tumbling satellite
Kim et al. Design and analysis of decoupled parallel mechanism with redundant actuator
Bettez-Bouchard et al. Development and experimental validation of a reorientation algorithm for a free-floating serial manipulator
Yu et al. Simultaneous trajectory tracking and stiffness control of cable actuated parallel manipulator
Zhou et al. Motion and trajectory planning modeling for mobile landing mechanism systems based on improved genetic algorithm
CN107967241B (en) Base disturbance calculation method of space free floating robot
Li et al. The trajectory planning of spacecraft based on optimal quintic polynomial
Mou et al. A HIL simulation facility for task verification of the chinese space station manipulator
Zou et al. Dynamic modeling and simulation research of space station assembly on orbit by large-scale robotic arm
Chen et al. Post-capture angular momentum management of space robot with controllable damping joints
Qiao et al. Analysis of the influence of parameters change on effective grasping force of an underactuated robotic hand
Yue et al. Contact detumbling toward a nutating target through deformable effectors and prescribed performance controller

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant