CN112937916B - Space robot for reducing influence of tail flow of attitude engine and working method thereof - Google Patents
Space robot for reducing influence of tail flow of attitude engine and working method thereof Download PDFInfo
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- CN112937916B CN112937916B CN202110114129.5A CN202110114129A CN112937916B CN 112937916 B CN112937916 B CN 112937916B CN 202110114129 A CN202110114129 A CN 202110114129A CN 112937916 B CN112937916 B CN 112937916B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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Abstract
The invention belongs to the technical field of spaceflight, and particularly discloses a space robot which comprises a robot base, a mechanical arm and a control center, wherein the mechanical arm is arranged below the robot base, each surface of the robot base is provided with a group of attitude engines, and each group of attitude engines comprises four engines; and four working surfaces of the robot base are provided with wake flow steering gears which comprise servo motors and wake flow guide plates. The control center calculates whether the working space of the mechanical arm has intersection with the + y, -y, + z, -z plane or not according to each joint angle of the mechanical arm and the inherent geometric dimension of each arm; if the intersection exists, the control center calculates the maximum angle of the xz plane of the local coordinate system of the attitude engine, so that the servo motor is controlled to drive the wake flow guide plate to rotate, and the wake flow is controlled to pass through the inaccessible area of the mechanical arm; if the intersection does not exist, the servo motor is in a standby state. The influence of the tail flow of the attitude engine on the mechanical arm is avoided.
Description
Technical Field
The invention belongs to the technical field of spaceflight, and particularly discloses a space robot capable of reducing the influence of attitude engine wake flow and a working method thereof.
Background
In the large context of the rapid development of space exploration, the types and operations of space tasks become very complex, which makes the On-Orbit service (OOS) status of space more and more important. Space on-orbit service refers to the task of Space Assembly, maintenance and service (SAMS) for a specific on-orbit target in Space by human, robot or robot-like spacecraft in cooperation with the two. At present, all countries have space plans for space on-orbit service, such as 'rail express trains', phoenix plans and the like. Because the task of the spatial on-orbit service is more and more complex, the cost of the spatial on-orbit service is more and more high, and the spacecraft which executes the task is required to have the characteristics of autonomy, flexibility, maneuverability, cooperation and the like. A combination of space robots and space robots is therefore proposed, such as space robot satellites. The spacecraft has rich functions, has the capabilities of orbital transfer, maneuvering and the like of a common satellite, has the functions of a space robot, can perform autonomous rendezvous and docking in space and perform direct in-orbit operation aiming at a Target, is the engineering test satellite No. 7 which is launched in 1997 by Japan and comprises a tracking satellite, namely a Chaser (also called Hikoboshi) and a Target satellite, namely an Orihime. Where chaper is the first satellite in the world equipped with a robotic arm. The task flow is that the Chaser uses a space manipulator to release the Target star to a position of 2 meters, and capture and retrieve operations are carried out after 15 minutes of formation flight. The method lays a solid foundation for researching a rendezvous system of the HTV cargo ship and a space manipulator of a Kibo experiment cabin on an international space station. In 1999, the united states proposed a rail express program and launched the tracking star Astro and the target star NEXTSat in 2007, and performed a series of capture and rendezvous and docking tests.
However, due to the complexity of the space operation, a plume generated by the base maneuvering of the space robot may enter the working space of the mechanical arm, which not only interferes with the normal work of the mechanical arm, but also disables the attitude maneuvering, thereby causing the rolling motion of the space robot, and causing a serious safety accident. Therefore, a new space robot is needed to be designed for the safety problem.
Disclosure of Invention
The invention aims to provide a space robot for reducing the influence of wake flow of an attitude engine and a working method thereof, and solves the problem that plume generated by the base maneuvering of the space robot possibly enters a mechanical arm working space to cause attitude maneuvering to be invalid.
The invention is realized by the following technical scheme:
a space robot for reducing the influence of wake flow of attitude engines comprises a robot base, mechanical arms and a control center, wherein the mechanical arms are arranged below the robot base, each surface of the robot base is provided with a group of attitude engines, and each group of attitude engines comprises four engines;
the four working surfaces of the robot base, the front, the rear, the left and the right, are respectively provided with a wake flow steering engine, the position of the wake flow steering engine is positioned at the position of an engine nozzle of the mechanical arm, the nozzle faces the mechanical arm, the wake flow steering engine comprises a servo motor and a wake flow guide plate, the servo motor is connected with the wake flow guide plate through a transmission shaft, and the servo motor is connected with a control center;
the control center is used for calculating the working space of the mechanical arm according to each joint angle of the mechanical arm and the inherent geometric dimension of each arm, so as to judge whether the working space has intersection with the + y, -y, + z, -z planes; if the intersection exists, the control center calculates the maximum angle of the xz plane of the local coordinate system of the attitude engine, so that the servo motor is controlled to drive the wake flow guide plate to rotate, and the wake flow is controlled to pass through the inaccessible area of the mechanical arm; if the intersection does not exist, the servo motor is in a standby state.
Further, in the initial state, the deflection angles of the four wake flow steering engines are all 0.
The invention relates to a working method based on a space robot, which comprises the following steps:
the control center calculates the working space of the mechanical arm according to each joint angle of the mechanical arm and the inherent geometric dimension of each arm, so as to judge whether the working space has intersection with the + y, -y, + z, -z plane;
if the intersection exists, the control center calculates the maximum angle of the xz plane of the local coordinate system of the attitude engine, so that the servo motor is controlled to rotate, the servo motor drives the wake flow guide plate to rotate, the wake flow direction of the attitude engine is adjusted in real time, and finally the wake flow is ensured to pass through the inaccessible area of the mechanical arm;
if the intersection does not exist, the servo motor is in a standby state.
Further, when the space robot detects that the working space of the mechanical arm is overlapped with the wake flow of a certain attitude engine in the z direction of the coordinate system of the satellite body, and the maximum angle of the xz plane of the working space of the mechanical arm and the local coordinate system of the attitude engine is calculated to be theta, the rotation angle of the wake flow guide plate is adjusted to be theta.
Further, when the wake guide angle corresponding to the engine with the number N is θ, the corrected operating time period is as follows:
wherein
The expected impulse size of the attitude engine with the number of N is shown, and a broken line above the variable represents the expected value of the variable; and i is the impulse provided by the attitude engine in unit time.
Further, the corrected operating time period of the engine numbered M is:
if N is an X1Z2 engine, then M is a Y1X2 engine, a Y2X2 engine, a Z1X2 engine, or a Z2X2 engine;
if N is an X2Z2 engine, then M is a Z1X1 engine, a Y1X1 engine, a Z2X1 engine, or a Y2X1 engine;
if N is a Y1Z2 engine, then M is a Z1Y2 engine, an X1Y2 engine, a Z2Y2 engine, or an X2Y2 engine;
if N is a Y2Z2 engine, then M is an X1Y1 engine, a Z2Y1 engine, an X2Y1 engine, or a Z1Y1 engine.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention discloses a space robot for reducing the influence of tail flow of an attitude engine and a working method thereof.A tail flow steering engine is arranged on four working surfaces of a robot base of the space robot, and under the condition that the working space of a mechanical arm is greatly changed, the working space of the space robot can be calculated, so that the tail flow steering engine can dynamically adjust the minimum safe angle and dynamically adjust the angle of a tail flow guide plate, and the tail flow generated by the maneuvering of six degrees of freedom can not enter the working space of the mechanical arm; when the mechanical arm is in a closed state or the working space of the mechanical arm is not intersected with the other plane, the wake flow steering engine is allowed to be shut down, so that the impulse generated by working media can be completely utilized, and the working media can be efficiently saved; a self-consistent maneuvering scheme is provided, and interference impulses derived from the work of the wake flow steering engine can be fully counteracted; the safety is good, and the influence of the tail flow of the attitude engine on the mechanical arm is avoided.
Further, when the wake steering engine worked, the attitude engine that corresponds can receive serious influence, and the impulse that its provided not only can diminish, still can produce the impulse of other directions. Therefore, the invention adopts the following measures: and the working time of the engine is prolonged, and the working time of other engines is prolonged, so that the impulse derived from the N engine in other directions is eliminated.
Drawings
FIG. 1 is a general block diagram of a space robot of the present invention;
FIG. 2 is a front view of the attitude engine block of plane X1;
FIG. 3 is a side view of the attitude engine;
FIG. 4 is a diagram of the positional relationship between the space robot and the attitude engine (without other components);
fig. 5 is a mechanical analysis diagram of the wake flow.
Wherein 1 is a remote point engine, 2 is a robot base, 3 is a posture engine, 4 is a robot arm, 5 is a gripper, 6 is a wake steering engine, 7 is an X1Z1 engine, 8 is an X1Y1 engine, 9 is an X1Z2 engine, 10 is a wake guide, 11 is an X1Y2 engine, 12 is a transmission shaft, 13 is a servo motor, 14 is a robot arm working space, 15 is an X2Y2 engine, 16 is an X2Z1 engine, 17 is an X2Y1 engine, 18 is an X2Z2 engine, 19 is a Y1Z1 engine, 20 is a Y1X2 engine, 21 is a Y1Z2 engine, 22 is a Y1X1 engine, 23 is a Y2X1 engine, 24 is a Y2Z2 engine, 25 is a Y2X2 engine, 26 is a Z1Y2 engine, 27 is a Z1X2 engine, 28 is a Z1Y1 engine, 29 is a Z1X1 engine, 30 is a Z2X2 engine, 31 is a Z1Y2 engine, 32 is a Z1Y2 engine, and 33 is a Z1X2 engine.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
As shown in figure 1, the invention discloses a space robot capable of reducing wake effect of attitude engines 3, which comprises a robot base 2, a mechanical arm 4, a paw 5, a far-field engine 1 and attitude engine 3 groups, wherein the far-field engine 1 is arranged above the robot base 2, one end of the mechanical arm 4 is arranged below the robot base 2, the other end of the mechanical arm is connected with the paw 5, each surface of the robot base 2 is provided with one attitude engine 3, each attitude engine 3 group comprises four engines, and the total number of the attitude engines 3 is 24. Four working faces of the robot base 2 are provided with wake flow steering gears 6, each wake flow steering gear 6 comprises a servo motor 13, a transmission shaft 12 and a wake flow guide plate 10, and the servo motors 13 are connected with a control center.
In order to simplify the model, the invention makes the following reasonable assumptions:
the robot base 2 is a regular hexahedron, and the axis of the attitude engine 3 passes through the center of the plane where the attitude engine is located and is parallel to one axis of a space robot body coordinate system; the attitude engine 3 and the wake flow steering engine 6 are regarded as mass points and are positioned in the center of the plane; the working space of the space robot mechanical arm 4 does not intersect with the horizontal plane at the bottom of the mechanical arm 4; in an initial state, the deflection angles of the four wake flow steering engines 6 are all 0, and the directions of the wake flows are consistent with the directions of the guide plates, namely the directions of the wake flows of the engine are not influenced by the wake flow guide plates 10; the impulse of the attitude engine 3 per unit operating time is constant and is i.
The assumptions given above are given for the purpose of simplifying the problem and are not limiting conditions of the invention.
It is to be noted that, in the present invention, the planes having normals of + X, -X, + Y, -Y, + Z, and-Z are referred to as X1, X2, Y1, Y2, Z1, and Z2; accordingly, attitude motors 3 whose axes are parallel to + x, -x, + y, -y, + z, -z, respectively, are referred to as x1, x2, y1, y2, z1, z2 motors, respectively. Meanwhile, we will refer to the attitude engine 3 with the axis on the plane with the normal parallel to the + X axis parallel to the + y axis as "X1y1", and the numbers of the remaining 23 engines can be analogized in turn.
As shown in fig. 4, the 24 engines are named: an X1Z1 engine 7, an X1Y1 engine 8, an X1Z2 engine 9, an X1Y2 engine 11, an X2Y2 engine 15, an X2Z1 engine 16, an X2Y1 engine 17, an X2Z2 engine 18, a Y1Z1 engine 19, a Y1X2 engine 20, a Y1Z2 engine 21, a Y1X1 engine 22, a Y2X1 engine 23, a Y2Z2 engine 24, a Y2X2 engine 25, a Z1Y2 engine 26, a Z1X2 engine 27, a Z1Y1 engine 28, a Z1X1 engine 29, a Z2X2 engine 30, a Z2Y1 engine 31, a Z2X1 engine 32, a Z2Y2 engine 33, a Y2Z1 engine 34.
When the axis direction of the nozzle of the engine 1 at the remote point of the robot base 2 is defined as the z1 axis and the other two axes are specified in the right-hand rule, the robot arm 4 is usually attached to the z2 axis. Each face is provided with a group of posture engines 3, and each group of posture engines 3 consists of four engines. As shown in fig. 2, taking the X1 plane as an example, the four engines of the plane are X1y1, X1y2, X1z1, and X1z2, respectively. Since the mechanical arm 4 is arranged on the-z surface, considering that the space robot generally has a large scale and at least six degrees of freedom, the working space is large, and the-z engine wake can be easily caused to pass through the working space of the mechanical arm 4, the wake flow steering engine 6 is arranged at the nozzle of the X1z2 engine.
The control center calculates whether the working space intersects with the + y, -y, + z, -z plane according to the joint angles of the mechanical arm 4 and the inherent geometric dimensions of the arms, and if the working space intersects with the + y, -y, + z, -z plane, the maximum angle of the xz plane of the local coordinate system of the attitude engine 3 is calculated, so that the servo motor 13 of the wake flow steering engine 6 is controlled, the wake flow guide plate 10 is adjusted, and the wake flow is controlled to pass through the inaccessible area of the mechanical arm 4; when the working space of the mechanical arm 4 of the space robot does not intersect with the + y, -y, + z, -z plane, the wake flow steering engine 6 is in a standby state, namely the motor returns to a zero position, and the plane of the guide plate is parallel to the plane of the wake flow steering engine 6.
In the working process of the space robot, the control center can solve the working space of the mechanical arm 4 by using a Monte Carlo and forward kinematics combined method.
The invention provides a maneuvering scheme of a space robot under the working state of a wake steering engine 6. When the tail flow steering engine 6 works, the corresponding attitude engine 3 can be seriously influenced, and the impulse provided by the engine not only can be reduced, but also can generate impulses in other directions. Therefore, the invention adopts the following measures:
1, prolonging the working time of the engine: during the space robot operation, the impulse provided by the N engine is expected to be the same as
Where N is the engine number and the superscript represents the expected value. Then, it is easy to know from mechanical analysis that if the angle of the wake flow guide plate 10 is 0, the working time of the N engine is:
as shown in fig. 3 and 5, taking an X1z2 engine as an example, and setting the angle of the wake guide plate 10 of the wake steering engine 6 as θ, it can be known from fig. 5 that the ratio of the expected impulse in the z direction to the actually provided impulse is equal to
Therefore it is easy to know to provide
The impulse in the + z direction of (1) has an operating time length of:
and 2, prolonging the working time of other engines to eliminate other direction impulses derived from the N engines: after the working time of the N engine is prolonged, the N engine is acted by the wake flow steering engine 6, and the real impulse of the N engine is known as follows according to the mechanical analysis in fig. 5:
i.e. the impulse contains
The impulse in the + z direction of (2) also includes the impulse of magnitude
The impulse in the-x direction of (1). It is therefore desirable for the other engine to add a portion of the operating time to offset the X1z2 engine-derived impulse by the amount:
and M represents Y1x2, Y2x2, Z1x2, Z2x2.
Generalizing the above conclusions to all engines, there are: when the steering engine angle corresponding to N is theta, the corrected working time is
And the corrected operating time period of the engine numbered M is
If N is X1Z2 engine 9, then M is Y1X2 engine 20, Y2X2 engine 25, Z1X2 engine 27, or Z2X2 engine 30;
if N is the X2Z2 engine 18, then M is the Z1X1 engine 29, the Y1X1 engine 22, the Z2X1 engine 32, or the Y2X1 engine 23;
if N is Y1Z2 engine 21, then M is Z1Y2 engine 26, X1Y2 engine 11, Z2Y2 engine 33, or X2Y2 engine 15;
if N is the Y2Z2 engine 24, then M is the X1Y1 engine 8, the Z2Y1 engine 31, the X2Y1 engine 17, or the Z1Y1 engine 28.
Claims (6)
1. A space robot capable of reducing influence of wake flow of attitude engines is characterized by comprising a robot base (2), a mechanical arm (4) and a control center, wherein the mechanical arm (4) is installed below the robot base (2), each surface of the robot base (2) is provided with a group of attitude engines (3), and each group of attitude engines (3) comprises four engines;
the four working surfaces of the robot base (2) are respectively provided with a wake steering engine (6), the wake steering engines (6) are positioned at the positions of nozzles of an engine facing the mechanical arm (4), each wake steering engine (6) comprises a servo motor (13) and a wake guide plate (10), the servo motors (13) are connected with the wake guide plates (10) through transmission shafts (12), and the servo motors (13) are connected with a control center;
the control center is used for calculating the mechanical arm working space (14) according to each joint angle of the mechanical arm (4) and the inherent geometric dimension of each arm, so that whether the mechanical arm working space (14) intersects with the + y, -y, + z and-z plane is judged; if the intersection exists, the control center calculates the maximum angle of the xz plane of the local coordinate system of the mechanical arm working space (14) and the attitude engine (3), so that the servo motor (13) is controlled to drive the wake flow guide plate (10) to rotate, and the wake flow is controlled to pass through the inaccessible area of the mechanical arm (4); if the intersection does not exist, the servo motor is in a standby state.
2. The space robot for reducing the wake effect of the attitude engine according to claim 1, characterized in that the deflection angles of the four wake actuators (6) are all 0 in the initial state.
3. The working method of the space robot based on any one of claims 1 to 2 is characterized by comprising the following steps:
the control center calculates a mechanical arm working space (14) according to each joint angle of the mechanical arm (4) and the inherent geometric dimension of each arm, so as to judge whether the mechanical arm working space (14) has intersection with the + y, -y, + z-z plane;
if the intersection exists, the control center calculates the maximum angle of the xz plane of the mechanical arm working space (14) and the local coordinate system of the attitude engine (3) so as to control the servo motor (13) to rotate, the servo motor (13) drives the wake flow guide plate (10) to rotate, the wake flow direction of the attitude engine (3) is adjusted in real time, and finally the wake flow is ensured to pass through the inaccessible area of the mechanical arm (4);
if no intersection exists, the servo motor (13) is in a standby state.
4. A method for operating a space robot according to claim 3, characterized in that when the space robot detects that the robot arm working space (14) overlaps with the wake of a certain attitude engine (3) in the z direction of the satellite body coordinate system, the maximum angle of the xz plane of the robot arm working space (14) and the local coordinate system of the attitude engine (3) is calculated as
Then the rotation angle of the wake flow guide plate (10) is adjusted to
And (4) an angle.
5. A working method of a space robot according to claim 3, characterized in that when the engine with number N corresponds to the wake guide (10) with an angle of
The corrected working time length is as follows:
wherein
Is numbered as
The expected impulse magnitude of the attitude engine (3), the broken line above the variable representing the expected value of the variable;
the impulse provided for the attitude engine (3) in unit time is large or small.
6. A working method of a space robot according to claim 5, wherein the planes with normal lines of + X, -X, + Y, -Y, + Z, -Z are respectively called X1, X2, Y1, Y2, Z1, Z2; attitude motors (3) whose axes are parallel to + x, -x, + y, -y, + z, -z are called x1, x2, y1, y2, z1, z2 motors, respectively; meanwhile, the attitude engine (3) with the normal line parallel to the + X axis and the axis parallel to the + y axis is referred to as 'X1 y 1', and the numbers of the rest 23 engines can be analogized in turn;
the corrected operating time period for the engine numbered M is:
if N is an X1Z2 engine (9), then M is a Y1X2 engine (20), a Y2X2 engine (25), a Z1X2 engine (27), or a Z2X2 engine (30);
if N is an X2Z2 engine (18), then M is a Z1X1 engine (29), a Y1X1 engine (22), a Z2X1 engine (32), or a Y2X1 engine (23);
if N is a Y1Z2 engine (21), M is a Z1Y2 engine (26), an X1Y2 engine (11), a Z2Y2 engine (33), or an X2Y2 engine (15);
if N is a Y2Z2 engine (24), then M is an X1Y1 engine (8), a Z2Y1 engine (31), an X2Y1 engine (17), or a Z1Y1 engine (28).
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| EP2860115A1 (en) * | 2013-10-11 | 2015-04-15 | Thales Alenia Space Deutschland GmbH | Method for modifying a position of uncontrolled objects in space and spacecraft for realizing the method |
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