基于可伸缩机构的空间机械臂系统设计

Design of Reconfigurable Space Manipulator System Based on Telescopic Mechanism

空间机械臂在发射阶段往往要求较小的包络,在空间应用阶段又需要足够大的操作范围和很高的操作精度,单一构型的空间机械臂很难满足以上需求。为此提出一种臂杆可伸缩的自重构空间机械臂:当机械臂处于收缩状态时,发射包络小、操作精度高;当机械臂处于伸长状态时,可达范围大。仿真验证结果表明:设计的等截面可伸缩臂杆提高了机械臂的适应能力。

Space manipulator is an important tool for on-orbit service of the spacecraft. During the launch phase the smaller envelope is often required, while the bigger range for operation is needed in the stage of space applications. At the same, time on-orbit service also imposes high requirement on accuracy of the manipulator operation, so a single configuration of space manipulator is difficult to meet the above requirements. In this paper a reconfigurable space manipulator model based on telescopic rod was proposed. When the manipulator was in the state of contraction, its launch envelope is small and precision of operation is high. When the manipulator was changed to the extended state, its opration range could be expanded very large. The function of the manipulator such as variable structure could greatly improve the adaptability for on-orbit service.