CN115027706B - Multi-arm spacecraft aiming at space non-cooperative targets and capturing method - Google Patents
Multi-arm spacecraft aiming at space non-cooperative targets and capturing method Download PDFInfo
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- CN115027706B CN115027706B CN202210639983.8A CN202210639983A CN115027706B CN 115027706 B CN115027706 B CN 115027706B CN 202210639983 A CN202210639983 A CN 202210639983A CN 115027706 B CN115027706 B CN 115027706B
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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
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
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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 multi-arm spacecraft aiming at a space non-cooperative target and a capturing method, and belongs to the field of on-orbit service spacecraft. The problem that the existing capturing mechanism cannot complete capturing tasks of targets which cannot provide available capturing features is solved. The device comprises a spacecraft base and four mechanical arms, wherein the first mechanical arm and the second mechanical arm are symmetrically arranged on two symmetrical side surfaces of the spacecraft base, the third mechanical arm and the fourth mechanical arm are symmetrically arranged on the other two symmetrical side surfaces of the spacecraft base, and an elastic buffer cushion is arranged on the upper surface of the spacecraft base; the first mechanical arm and the second mechanical arm are seven-degree-of-freedom flexible arms, the third mechanical arm and the fourth mechanical arm are seven-degree-of-freedom rigid arms, the flexible arms and the rigid arms comprise seven arm rods, the seven arm rods of the flexible mechanical arms are connected through flexible joints, and the arm rods of the flexible arms and the rigid arms, which are used for capturing targets, are elastic buffer rods. The method is suitable for space on-orbit service spacecraft.
Description
Technical Field
The invention belongs to the field of on-orbit service spacecraft, and particularly relates to a multi-arm spacecraft aiming at a space non-cooperative target and a capturing method.
Background
Currently available capture solutions for spatially non-cooperative targets are typically cooperative interfaces or protruding features of the capture target surface, such as a connection ring to capture rocket debris, a jet of satellites, or a satellite windsurfing board. However, when the interface of the target surface is damaged or available grabbing features cannot be provided, capturing cannot be achieved, so that the capturing mechanism and the capturing scheme existing at present cannot complete capturing tasks.
Disclosure of Invention
In view of the above, the present invention is directed to providing a multi-arm spacecraft for space non-cooperative targets, so as to solve the problem that the capturing mechanism in the prior art cannot complete the capturing task of the targets that cannot provide the available capturing features.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
a multi-arm spacecraft aiming at a space non-cooperative target comprises a spacecraft base and four mechanical arms, wherein the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are respectively arranged on two symmetrical side surfaces of the spacecraft base symmetrically, the third mechanical arm and the fourth mechanical arm are arranged on the other two symmetrical side surfaces of the spacecraft base symmetrically, and an elastic buffer cushion is arranged on the upper surface of the spacecraft base;
the first mechanical arm and the second mechanical arm are seven-degree-of-freedom flexible arms, the third mechanical arm and the fourth mechanical arm are seven-degree-of-freedom rigid arms, the seven-degree-of-freedom flexible arms and the seven-degree-of-freedom rigid arms comprise seven arm rods, the seven arm rods of the seven-degree-of-freedom flexible arms are connected through flexible joints, and the arm rods of the four mechanical arms for capturing targets are elastic buffer rods.
Furthermore, the four mechanical arms of the multi-arm spacecraft are folded inwards to form an enveloping capturing state.
Further, after the first mechanical arm and the second mechanical arm of the multi-arm spacecraft are folded to primarily fix the target, the third mechanical arm and the fourth mechanical arm are folded to finally capture the target.
Further, the motor used at the flexible joint is a series elastic driver.
Furthermore, the spacecraft base is a floating base, and a nozzle and a flywheel for controlling the position and the posture of the spacecraft base are arranged on the spacecraft base.
Furthermore, the elastic buffer rod is provided with an elastic buffer layer on the outer surface of the arm rod.
Further, the seven-degree-of-freedom flexible arm and the seven-degree-of-freedom rigid arm are sequentially a first arm lever, a second arm lever, a third arm lever, a fourth arm lever, a fifth arm lever, a sixth arm lever and a seventh arm lever from the spacecraft base to the tail end, and the arms of the seven-degree-of-freedom flexible arm and the seven-degree-of-freedom rigid arm for capturing the target are fourth arm levers.
Furthermore, the elastic buffer cushion and the elastic buffer layer are made of rubber materials.
The invention provides a capturing method of a multi-arm spacecraft aiming at a space non-cooperative target, which comprises the following steps:
and 4, gradually folding the two seven-degree-of-freedom rigid arms to finish the transition from the enveloping configuration to the final capturing configuration, and finally capturing the target.
Further, the pre-capturing configuration in step 1 is that the working space formed by four mechanical arms of the multi-arm spacecraft faces the target.
Compared with the prior art, the multi-arm spacecraft aiming at the space non-cooperative target has the beneficial effects that:
(1) The invention creates the multi-arm spacecraft aiming at the space non-cooperative target, the elastic buffer layer is arranged on the surface of the base of the multi-arm spacecraft and the surface of the arm rod contacted with the target, the larger friction coefficient can ensure enough friction force to resist the transverse interference force, and meanwhile, the serial elastic driver is used for reducing the impact in the capturing process;
(2) The capture scheme of the multi-arm spacecraft aiming at the space non-cooperative targets can capture targets with any shape in space, does not need to have a connecting ring, a spray pipe or other features for capturing on the surfaces of the targets, and has good universality;
(3) The application provides corresponding capturing configuration configurations of capturing contact points and space multi-arm spacecraft aiming at cylinders, cuboids and irregular objects respectively;
(4) The soft-rigid capturing scheme of firstly enveloping and then capturing is provided, and the capturing stability can be ensured while the collision force between the target and the space multi-arm spacecraft is reduced through the contact sequence of firstly softening and then rigid.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute an undue limitation on the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a multi-arm spacecraft for spatially non-cooperative targets according to an illustrative embodiment of the present invention;
FIG. 2 is a schematic view of the structure of a flexible buffer rod in a multi-arm spacecraft for spatially non-cooperative targets according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a configuration of a pre-capture configuration of a multi-arm spacecraft for spatially non-cooperative targets in accordance with an inventive embodiment of the present invention;
fig. 4 is a schematic view of a flexible arm to rocket debris catching configuration;
fig. 5 is a schematic illustration of a configuration after successful capture of rocket debris;
FIG. 6 is a schematic illustration of a flexible arm capture configuration for a failed satellite;
FIG. 7 is a schematic illustration of a configuration after successful acquisition of a failed satellite;
FIG. 8 is a schematic view of a flexible arm to celestial debris capture configuration;
fig. 9 is a schematic view of the configuration after successful capture of celestial debris.
Reference numerals illustrate:
1. a spacecraft base; 2. a first mechanical arm; 3. a second mechanical arm; 4. a third mechanical arm; 5. a fourth mechanical arm; 6. an elastic cushion pad; 7. an elastic buffer rod; 8. an elastic buffer layer; 9. a connecting flange; 10. rocket debris; 11. a failed satellite; 12. and (5) celestial body fragments.
Detailed Description
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention disclosed herein without departing from the scope of the invention.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on those shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the creation of the present invention will be understood in a specific case by those skilled in the art.
In addition, the technical features which are described below and which are involved in the various embodiments of the invention can be combined with one another as long as they do not conflict with one another.
As shown in fig. 1-2, a multi-arm spacecraft aiming at a space non-cooperative target comprises a spacecraft base 1, four mechanical arms, namely a first mechanical arm 2, a second mechanical arm 3, a third mechanical arm 4 and a fourth mechanical arm 5, wherein the first mechanical arm 2 and the second mechanical arm 3 are symmetrically arranged on two symmetrical side surfaces of the spacecraft base 1, the third mechanical arm 4 and the fourth mechanical arm 5 are symmetrically arranged on the other two symmetrical side surfaces of the spacecraft base 1, and an elastic buffer cushion 6 is arranged on the upper surface of the spacecraft base 1;
the first mechanical arm 2 and the second mechanical arm 3 are seven-degree-of-freedom flexible arms, the third mechanical arm 4 and the fourth mechanical arm 5 are seven-degree-of-freedom rigid arms, the seven-degree-of-freedom flexible arms and the seven-degree-of-freedom rigid arms comprise seven arm rods, the seven arm rods of the flexible arms are connected through flexible joints, and a motor used at the flexible joints is a serial elastic driver (SEA); seven arm rods of the rigid arm are connected through rigid joints, arm rods of the flexible arm and the rigid arm for capturing the target are elastic buffer rods 7, namely, arm rods of the four mechanical arms for capturing the target are elastic buffer rods, only the third mechanical arm 4 is marked in fig. 1 for illustration, and the other three mechanical arms are not marked.
The two flexible arms and the two rigid arms of the multi-arm spacecraft are folded inwards to form an enveloping capturing state; after the two flexible arms of the multi-arm spacecraft are folded to primarily fix the target, the two rigid arms are folded again to finally capture the target.
The upper surface of the spacecraft base 1 is a surface which is contacted with a target, and the elastic cushion 6 is arranged on the upper surface, so that the collision force can be restrained when the spacecraft base collides with the target, and the damage caused by collision can be reduced.
The spacecraft base 1 is a floating base, and a nozzle and a flywheel for controlling the position and the posture of the spacecraft base are arranged on the spacecraft base 1.
The elastic buffer rod 7 is provided with an elastic buffer layer 8 on the outer surface of the arm rod, so as to reduce the damage caused by collision between the fourth arm rod and the target and increase the friction.
The seven-degree-of-freedom flexible arm and the seven-degree-of-freedom rigid arm are sequentially a first arm rod, a second arm rod, a third arm rod, a fourth arm rod, a fifth arm rod, a sixth arm rod and a seventh arm rod from the spacecraft base 1 to the tail end, and the arm rods of the flexible mechanical arm and the rigid mechanical arm for capturing targets are fourth arm rods.
The elastic cushion 6 and the elastic cushion layer 8 are made of rubber. The two ends of each arm rod are provided with connecting flanges 9 which are connected with corresponding side joints, and the connection is firm and reliable through the connecting flanges.
The invention provides a capturing method of a multi-arm spacecraft aiming at a space non-cooperative target, which comprises the following steps:
the control parts involved in the above steps all belong to the prior art, and the specific working principle thereof is not repeated.
Because collision force between the base and the target can cause the target to fly out of the capture range of the multi-arm spacecraft, the target is captured by using a soft-rigid capture scheme; firstly, performing preliminary enveloping fixation on a target by using two flexible mechanical arms; then the rest two rigid arms are used for reinforcing the catching configuration of the target; the application ensures the success rate of capturing.
Several methods of capturing for specific targets are given below:
specific example one:
a method for catching rocket debris for a multi-arm spacecraft of a space non-cooperative target,
step 1: after the preamble measurement and recognition work, classifying the targets into cylinders according to the shapes of the targets, controlling the multi-arm spacecraft to reach a pre-capture position according to a corresponding capture scheme, and expanding a pre-capture configuration, as shown in fig. 3;
step 2: as shown in fig. 4, the spacecraft base 1 of the space multi-arm spacecraft gradually approaches the rocket debris 10, each joint of the two seven-degree-of-freedom flexible arms reaches a respective expected joint angle through trajectory planning, and the fourth arm rod of the two seven-degree-of-freedom flexible arms is contacted with the target surface to achieve the purpose of preliminary capturing;
step 3: as shown in fig. 5, on the basis that the spacecraft base 1 and the two seven-degree-of-freedom flexible arms complete preliminary capturing of the target, the two seven-degree-of-freedom rigid arms are gradually folded to enable each joint angle to reach an expected angle, and the fourth arm rods of the two seven-degree-of-freedom rigid arms are contacted with the surface of the target to form a cage capturing structure, so that capturing action is completed on the rocket debris 10, and relative posture change may occur between the spacecraft base 1 and the rocket debris 10 during the capturing action; the position and attitude of the spacecraft base 1 are controlled by the nozzle and flywheel.
Specific example two:
a method for capturing a failure satellite of a multi-arm spacecraft aiming at a space non-cooperative target,
Specific example three:
a method for capturing celestial body fragments of a multi-arm spacecraft aiming at a space non-cooperative target,
The multi-arm spacecraft envelop capturing strategy for the space non-cooperative targets can capture the space non-cooperative targets in any shape in a hugging mode, and the characteristics of butt joint or capturing of the surfaces of the targets are not needed. Meanwhile, the flexible-rigid capturing method designed by the application integrates the advantages of good impact resistance and high fault tolerance of the flexible mechanical arm and the advantage of high capturing stability of the rigid mechanical arm, and can capture various spatial non-cooperative targets and improve capturing success rate and capturing stability.
The inventive embodiments disclosed above are merely intended to help illustrate the inventive embodiments. The examples are not intended to be exhaustive or to limit the invention to the precise form disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention.
Claims (7)
1. A multi-arm spacecraft for spatially non-cooperative targets, characterized by: the device comprises a spacecraft base and four mechanical arms, wherein the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are respectively arranged on two symmetrical side surfaces of the spacecraft base, the third mechanical arm and the fourth mechanical arm are symmetrically arranged on the other two symmetrical side surfaces of the spacecraft base, and an elastic buffer cushion is arranged on the upper surface of the spacecraft base;
the first mechanical arm and the second mechanical arm are seven-degree-of-freedom flexible arms, the third mechanical arm and the fourth mechanical arm are seven-degree-of-freedom rigid arms, the seven-degree-of-freedom flexible arms and the seven-degree-of-freedom rigid arms comprise seven arm rods, the seven arm rods of the seven-degree-of-freedom flexible arms are connected through flexible joints, and the arm rods of the four mechanical arms for capturing targets are elastic buffer rods;
four mechanical arms of the multi-arm spacecraft are folded inwards to form an enveloping capturing state;
after a first mechanical arm and a second mechanical arm of the multi-arm spacecraft are folded to primarily fix a target, a third mechanical arm and a fourth mechanical arm are folded again to finally capture the target;
the motor used at the flexible joint is a series elastic driver.
2. A multi-arm spacecraft for spatially non-cooperative targets according to claim 1, wherein: the spacecraft base is a floating base, and a nozzle and a flywheel for controlling the position and the gesture of the spacecraft base are arranged on the spacecraft base.
3. A multi-arm spacecraft for spatially non-cooperative targets according to claim 1, wherein: the elastic buffer rod is characterized in that an elastic buffer layer is arranged on the outer surface of the arm rod.
4. A multi-arm spacecraft for spatially non-cooperative targets according to claim 1, wherein: the seven-degree-of-freedom flexible arm and the seven-degree-of-freedom rigid arm are sequentially a first arm rod, a second arm rod, a third arm rod, a fourth arm rod, a fifth arm rod, a sixth arm rod and a seventh arm rod from the spacecraft base to the tail end, and the arm rods of the seven-degree-of-freedom flexible arm and the seven-degree-of-freedom rigid arm for capturing targets are fourth arm rods.
5. A multi-arm spacecraft for spatially non-cooperative targets according to claim 3, wherein: the elastic cushion pad and the elastic cushion layer are made of rubber materials.
6. A method of capturing a multi-arm spacecraft for spatially non-cooperative targets according to any of claims 1-5, wherein: the method specifically comprises the following steps:
step 1, classifying the targets into cylindrical, cuboid or irregularly-shaped objects according to the shapes of the targets, controlling the multi-arm spacecraft to reach a pre-capturing position according to a corresponding capturing scheme, and expanding a pre-capturing configuration;
step 2, gradually folding the mechanical arms in the process of approaching the target by the multi-arm spacecraft, gradually finishing enveloping the target according to a capture strategy with a corresponding shape, wherein each joint angle of each mechanical arm in the enveloping configuration is determined by the appearance of the target;
step 3, gradually folding the two seven-degree-of-freedom flexible arms, and converting the two seven-degree-of-freedom flexible arms from an enveloping configuration to a preliminary fixed configuration in contact with a target;
and 4, gradually folding the two seven-degree-of-freedom rigid arms to finish the transition from the enveloping configuration to the final capturing configuration, and finally capturing the target.
7. The method for capturing a multi-arm spacecraft for a spatially non-cooperative target according to claim 6, wherein: the pre-capturing configuration in the step 1 is that a working space formed by four mechanical arms of the multi-arm spacecraft faces to the target.
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| CN109250156B (en) * | 2018-07-24 | 2020-10-16 | 西北工业大学 | Space non-cooperative target electromagnetic eddy current despinning capture device and method |
| US11661217B2 (en) * | 2019-09-26 | 2023-05-30 | University Of Southern California | Multi-armed soft capture system |
| WO2022090774A1 (en) * | 2020-10-29 | 2022-05-05 | Clearspace Sa | Capture system adapted to capture space objects, in particular for recovery or deorbiting purposes |
| CN112389686B (en) * | 2020-11-24 | 2022-06-07 | 西北工业大学深圳研究院 | Passive target synchronous despun capture operation method based on space multi-arm contact |
| CN114162353A (en) * | 2021-12-07 | 2022-03-11 | 哈尔滨工业大学（深圳） | Tool spacecraft system for on-orbit control |
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