Failed satellite self-adaption envelope capturing method based on hyper-redundant mechanical arm

An adaptive envelope, robotic arm technology, applied in the field of aerospace

Active Publication Date: 2019-10-25
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, it is imminent to clean up space debris such as invalid spacecraft. However, due to the non-cooperative nature of space debris (no special capture and docking mechanism, no cooperative measurement device, etc.), its capture is extremely challenging.

Method used

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  • Failed satellite self-adaption envelope capturing method based on hyper-redundant mechanical arm
  • Failed satellite self-adaption envelope capturing method based on hyper-redundant mechanical arm
  • Failed satellite self-adaption envelope capturing method based on hyper-redundant mechanical arm

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specific Embodiment

[0096] The present invention is figure 1 The specific embodiment of the capture of the failed satellite 7 by the super-redundant mechanical arm 2 composed of 20 general-purpose joints is as follows:

[0097] Let the rod length l of the super-redundant manipulator 2 be 0.2m, and the value range of the joint angle α i ,θ i ∈[-180°,180°](i=1,2,...,20); the measurement parameters of the failed satellite 7 are: the main body is a regular hexagonal prism with a side length of 0.4m and a height of 1m. According to assumption 2), the initial value of the joint angle of the super-redundant manipulator 2 is α i = 0° and θ i = 0°. Assume that the transformation matrix from the serving satellite 1 body system to the reference coordinate system is I T 0 =[1002; 0102; 0012; 0001], the coordinate transformation matrix from the fixed coordinate system of the first joint of the super-redundant manipulator 2 to the system of the serving satellite 1 is 0 T 1 =[1000; 0010.5; 0-100; 0001] ...

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Abstract

The invention discloses a failed satellite self-adaption envelope capturing method based on a hyper-redundant mechanical arm. The hyper-redundant mechanical arm is arranged on a service satellite; thecapturing method comprises the following steps: (1) envelope conditions of the hyper-redundant mechanical arm for capturing failed satellites are derived, that is, envelope trajectories capable of constraining motions of the failed satellites are searched; (2) a kinetics model of the hyper-redundant mechanical arm is built to obtain homogeneous transformation matrixes of the positions and the gestures of hyper-redundant mechanical arm connecting rods; and (3) an envelope motion planning algorithm of the hyper-redundant mechanical arm is designed; and a quick search random tree algorithm is adopted to search hyper-redundant mechanical arm configurations meeting envelope conditions to realize matching with the envelope trajectories. The method is based of self high redundancy and flexibility; and the hyper-redundant mechanical arm uses self body to wrap the failed satellites, so that the capturing of the failed satellites is realized under the condition of not needing precise target information.

Description

technical field [0001] The invention belongs to the field of aerospace, and relates to a method for capturing failed satellites, in particular to an adaptive envelope capturing method for failed satellites based on a super-redundant mechanical arm. Background technique [0002] With the continuous exploration and utilization of space resources by human beings, a large amount of space junk caused by various reasons such as malfunctioning satellites, various explosions, and debris not only occupies precious orbital resources, but also affects the normal operation of spacecraft in orbit. Security poses a serious threat. Especially for large space debris represented by invalid satellites, once a collision occurs, more secondary debris will be produced. Therefore, it is imminent to clean up space debris such as invalid spacecraft. However, due to the non-cooperative nature of space debris (no special capture and docking mechanism, no cooperative measurement device, etc.), its ca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G4/00B64G1/10
CPCB64G1/1078B64G4/00B64G2004/005
Inventor 孙冲袁源万文娅邓李圣李琪崔尧
Owner NORTHWESTERN POLYTECHNICAL UNIV
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