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An Adaptive Envelope Capture Method for Failed Satellites Based on Hyper-Redundant Manipulator

An adaptive envelope and robotic arm technology, applied in the aerospace field, achieves high flexibility, good adaptability, and high redundancy

Active Publication Date: 2021-08-31
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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  • An Adaptive Envelope Capture Method for Failed Satellites Based on Hyper-Redundant Manipulator
  • An Adaptive Envelope Capture Method for Failed Satellites Based on Hyper-Redundant Manipulator
  • An Adaptive Envelope Capture Method for Failed Satellites Based on Hyper-Redundant Manipulator

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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 =[1,0,0,0; 0,0,1,0.5; 0,-1,0,...

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Abstract

The invention discloses an adaptive envelope capture method for a failed satellite based on a super-redundant manipulator. The super-redundant manipulator is set on a service satellite. The capture method includes the following steps: Step 1, deriving capture The envelope condition of the super-redundant manipulator of the failed satellite is to find the envelope trace that can constrain the movement of the failed satellite; step 2, establish the kinematics model of the super-redundant manipulator, and obtain the hyper-redundant manipulator link The homogeneous transformation matrix of position and attitude; Step 3, design the envelope motion planning algorithm of the super-redundant manipulator, use the fast search random tree algorithm to search for the super-redundant manipulator configuration that meets the envelope condition, realize the same Matching of network traces. This method is based on its own high redundancy and flexibility. The ultra-redundant manipulator uses its own torso to wrap the failed satellite, and realizes the capture of the failed satellite without the need for accurate 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 Patents(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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