Satellite and space station manipulator arm deployment control determination system and method
A judging system and a technology of a manipulator, which is applied in the field of manipulators, can solve problems such as large power consumption and inaccurate judgment, and achieve the effects of reduced volume and weight, fast judgment speed, and a wide range of applications
Active Publication Date: 2021-11-16
XI'AN INST OF OPTICS & FINE MECHANICS - CHINESE ACAD OF SCI
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[0012] The purpose of the present invention is to solve the technical problems of inaccurate judgment and large power consumption in the existing electromagnetic control method based on the photoelectric method of the mechanical arm deployment state judgment system and method, and to provide a satellite and space station robotic arm deployment control judgment system and method
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[0067] The present invention will be further described below in conjunction with accompanying drawing.
[0068] In order to realize the precise judgment of the deployment state of the manipulator, the present invention proposes a capacitive sensor-based satellite and space station manipulator deployment control judgment system and a method for controlling the deployment of the manipulator based on the system, which solves the problem of mechanical arm deployment when the manipulator is deployed. System misjudgment caused by jitter. This system is basically the same as the structure and deployment process of the Selfie bracket that can be automatically deployed in space based on the photoelectric method mentioned in the background technology. The only difference is that the photoelectric sensor is replaced by a capacitive sensor, and a special method for determining the deployment state is set accordingly.
[0069] Satellite and space station manipulator deployment control judg...
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The invention relates to a process of deploying a manipulator, in particular to a control and determination system and method for deploying a manipulator, which can be applied to manipulators in satellites and space stations. The purpose of the present invention is to solve the technical problems of inaccurate judgment and large power consumption in the existing electromagnetic control method based on the photoelectric method of the mechanical arm deployment state judgment system and method, and to provide a satellite and space station robotic arm deployment control judgment system and method . The improvement of the system is that: a capacitive sensor is provided near the joint of the adjacent mechanical rod; the capacitive sensor includes a sensor body and a metal electrode, which are respectively fixed on the mechanical rod on both sides of the joint, and the mechanical arm is deployed in place. At this time, the capacitance value of the capacitive sensor is the largest, and the unfolding state is judged by the capacitance value output by the capacitive sensor. The method is performed using the system.
Description
technical field [0001] The invention relates to a process of deploying a manipulator, in particular to a control and determination system and method for deploying a manipulator, which can be applied to manipulators in satellites and space stations. Background technique [0002] With the continuous development of aerospace technology, more and more micro-nano satellites have been developed. In order to complete the work tasks, the micro-nano satellite will carry a variety of loads. In order to realize the miniaturization and light weight of the satellite and facilitate its launch, the current satellites will adopt a folding structure. During the launch process of the satellite, each load is in a contracted state to ensure the safety of the satellite and the load during the launch process. When the satellite reaches the predetermined orbit and starts to work, the loads are unfolded and located on different sides of the satellite according to their different functions. The work...
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IPC IPC(8): B64G1/22B64G1/10
CPCB64G1/10B64G1/222
Inventor 冯佳王华伟王浩王华杨磊边河罗鹰曾鸿李季
Owner XI'AN INST OF OPTICS & FINE MECHANICS - CHINESE ACAD OF SCI