A new flexible tether-net space robotic system used to capture space debris is presented in this paper. With a mass point assumption, a dynamic model of the tether-net system was established in orbital frame by applyi...A new flexible tether-net space robotic system used to capture space debris is presented in this paper. With a mass point assumption, a dynamic model of the tether-net system was established in orbital frame by applying Lagrange Equations. In order to investigate the net in-plane trajectories after being cast, the non-controlled R-bar and V-bar captures were simulated with ignoring the out-of-plane libration, and the effect of in-plane libration on the trajectories of the capture net was demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension was investigated, then an integrated control scheme was proposed by introducing thrusters into the system, and the nonlinear close-loop dynamics was linearised by feedforward strategy. Simulation results show that the feedforward controller is effective for in-plane libration damping and enables the capture net to track an expected trajectory.展开更多
The space manipulator which has advantages of high dexterity and universality, is used to the space capturing usually. According to the different types of mechanical interfaces of targets, the on orbit capturing opera...The space manipulator which has advantages of high dexterity and universality, is used to the space capturing usually. According to the different types of mechanical interfaces of targets, the on orbit capturing operation includes capturing of cooperative target and capturing of uncooperative target. The performances of the famous large space manipulators named space shuttle remote manipulator system(SRMS), the space station remote manipulator system(SSRMS) and the Europe robotic arm(ERA) are reviewed and studied respectively. Moreover, the space manipulators being developed by China for space station is also surveyed. Based on the performance analysis of the large space manipulators and end-effectors, which are adapted to the construction and daily maintenance for the large space structure such as the space station, the basic requirements of large misalignment tolerance capability, soft capturing capability and hard docking capability for the end-effector of large space manipulator are proposed in this paper. According to these requirements, the capture mechanism and methods that can enable the end-effector to have the capability of misalignment tolerance and soft capturing are presented. The development trend and key technologies of the large space manipulators and the end-effectors are also reviewed.展开更多
The Unified S-Band （USB） ranging/Doppler system and the Very Long Baseline Interferometry （VLBI） system as the ground tracking system jointly supported the lunar orbit capture of both Chang＇E-2 （CE-2） and Chang...The Unified S-Band （USB） ranging/Doppler system and the Very Long Baseline Interferometry （VLBI） system as the ground tracking system jointly supported the lunar orbit capture of both Chang＇E-2 （CE-2） and Chang＇E-1 （CE-1） missions. The tracking system is also responsible for providing precise orbits for scientific data processing. New VLBI equipment and data processing strategies have been proposed based on CE-1 experiences and implemented for CE-2. In this work the role VLBI tracking data played was reassessed through precision orbit determination （POD） experiments for CE-2. Significant improve- ment in terms of both VLBI delay and delay rate data accuracy was achieved with the noise level of X-band band-width syn- thesis delay data reaching 0.2-0.3 ns. Short-arc orbit determination experiments showed that the combination of only 15 min＇s range and VLBI data was able to improve the accuracy of 3 h＇s orbit using range data only by a 1-1.5 order of magnitude, confirming a similar conclusion for CE-1. Moreover, because of the accuracy improvement, VLBI data was able to contribute to CE-2＇s long-arc POD especially in the along-track and orbital normal directions. Orbital accuracy was assessed through the orbital overlapping analysis （2 h arc overlapping for 18 h POD arc）. Compared with about 100 m position error of CE-l＇s 200 kin x 200 km lunar orbit, for CE-2＇s 100 km x 100 km lunar orbit, the position errors were better than 31 and 6 m in the radial direction, and for CE-2＇s 15 km^100 km orbit, the position errors were better than 45 and 12 m in the radial direction. In addi- tion, in trying to analyze the Delta Differential One-Way Ranging （ADOR） experiments data we concluded that the accuracy of ADOR delay was dramatically improved with the noise level better than 0.1 ns and systematic errors better calibrated, and the Short-arc POD tests with ADOR data showed excellent results. Although unable to support the development of an independent lunar gravity model, the tracking data of CE-2 provided evaluations of different lunar gravity models through POD. It is found that for the 100 km x 100 km lunar orbit, with a degree and order expansion up to 165, JPL＇s gravity model LP165P did not show noticeable improvement over Japan＇s SGM series models （100x100）, but for the 15 kmxl00 km lunar orbit, a higher de- gree-order model can significantly improve the orbit accuracy.展开更多
基金Sponsored by the High Technology Research & Development Program of China(Grant No.2002AA742012)
文摘A new flexible tether-net space robotic system used to capture space debris is presented in this paper. With a mass point assumption, a dynamic model of the tether-net system was established in orbital frame by applying Lagrange Equations. In order to investigate the net in-plane trajectories after being cast, the non-controlled R-bar and V-bar captures were simulated with ignoring the out-of-plane libration, and the effect of in-plane libration on the trajectories of the capture net was demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension was investigated, then an integrated control scheme was proposed by introducing thrusters into the system, and the nonlinear close-loop dynamics was linearised by feedforward strategy. Simulation results show that the feedforward controller is effective for in-plane libration damping and enables the capture net to track an expected trajectory.
基金supported by the National Basic Research Program of China(Grant No.973-2013CB733103)State Key Laboratory of Robotics and System(HIT)(Grant No.SKLRS-2016-MF-05)
文摘The space manipulator which has advantages of high dexterity and universality, is used to the space capturing usually. According to the different types of mechanical interfaces of targets, the on orbit capturing operation includes capturing of cooperative target and capturing of uncooperative target. The performances of the famous large space manipulators named space shuttle remote manipulator system(SRMS), the space station remote manipulator system(SSRMS) and the Europe robotic arm(ERA) are reviewed and studied respectively. Moreover, the space manipulators being developed by China for space station is also surveyed. Based on the performance analysis of the large space manipulators and end-effectors, which are adapted to the construction and daily maintenance for the large space structure such as the space station, the basic requirements of large misalignment tolerance capability, soft capturing capability and hard docking capability for the end-effector of large space manipulator are proposed in this paper. According to these requirements, the capture mechanism and methods that can enable the end-effector to have the capability of misalignment tolerance and soft capturing are presented. The development trend and key technologies of the large space manipulators and the end-effectors are also reviewed.
基金supported by the National Natural Science Foundation of China (Grant Nos. 10703011 and11073047)the Science and Technology Commission of Shanghai (GrantNo. 06DZ22101)the National High Technology Research and Development Program of China (Grant No. 2010AA122202)
文摘The Unified S-Band （USB） ranging/Doppler system and the Very Long Baseline Interferometry （VLBI） system as the ground tracking system jointly supported the lunar orbit capture of both Chang＇E-2 （CE-2） and Chang＇E-1 （CE-1） missions. The tracking system is also responsible for providing precise orbits for scientific data processing. New VLBI equipment and data processing strategies have been proposed based on CE-1 experiences and implemented for CE-2. In this work the role VLBI tracking data played was reassessed through precision orbit determination （POD） experiments for CE-2. Significant improve- ment in terms of both VLBI delay and delay rate data accuracy was achieved with the noise level of X-band band-width syn- thesis delay data reaching 0.2-0.3 ns. Short-arc orbit determination experiments showed that the combination of only 15 min＇s range and VLBI data was able to improve the accuracy of 3 h＇s orbit using range data only by a 1-1.5 order of magnitude, confirming a similar conclusion for CE-1. Moreover, because of the accuracy improvement, VLBI data was able to contribute to CE-2＇s long-arc POD especially in the along-track and orbital normal directions. Orbital accuracy was assessed through the orbital overlapping analysis （2 h arc overlapping for 18 h POD arc）. Compared with about 100 m position error of CE-l＇s 200 kin x 200 km lunar orbit, for CE-2＇s 100 km x 100 km lunar orbit, the position errors were better than 31 and 6 m in the radial direction, and for CE-2＇s 15 km^100 km orbit, the position errors were better than 45 and 12 m in the radial direction. In addi- tion, in trying to analyze the Delta Differential One-Way Ranging （ADOR） experiments data we concluded that the accuracy of ADOR delay was dramatically improved with the noise level better than 0.1 ns and systematic errors better calibrated, and the Short-arc POD tests with ADOR data showed excellent results. Although unable to support the development of an independent lunar gravity model, the tracking data of CE-2 provided evaluations of different lunar gravity models through POD. It is found that for the 100 km x 100 km lunar orbit, with a degree and order expansion up to 165, JPL＇s gravity model LP165P did not show noticeable improvement over Japan＇s SGM series models （100x100）, but for the 15 kmxl00 km lunar orbit, a higher de- gree-order model can significantly improve the orbit accuracy.
