A spherical outer envelope capture method for space robots

Abstract

The invention discloses a capturing method of a spherical outer envelope of a space robot, which comprises the steps of designing the capture method of capturing a target by the spherical outer envelope of a space robot; establishing a coordinate system and performing force analysis on the model; establishing the target and the spherical outer envelope The contact force model between; use the Kane equation to establish the dynamic model of the space robot and the target. Through the technical solution of the present invention, the target is in the spherical outer envelope before the manipulator captures, and it is difficult to escape, and the relative movement of the target relative to the platform is reduced through the contact with the envelope, which facilitates the completion of the manipulator capture operation.

Description

technical field [0001] The invention belongs to the technical field of spacecraft on-orbit service and space debris removal, and in particular relates to a spherical outer envelope capturing method of a space robot. Background technique [0002] With the gradual development of space applications in low-Earth orbit, the on-orbit servicing missions for orbiting spacecraft and the debris removal missions for space debris have attracted more and more attention from researchers at home and abroad. On the one hand, in order to increase the service life of spacecraft and reduce the cost of use, many aerospace agencies have used single-arm space robots to complete on-orbit service tasks such as fuel filling and module replacement and related experiments, such as Japan's engineering test satellite 7, the United States' Orbit Express and robot injection missions, etc. On the other hand, at present, space debris caused by failure, function failure or even fuselage explosion seriously ...

AI Technical Summary

Problems solved by technology

[0003] In order to achieve the capture of targets by space robots, many scholars at home and abroad have carried out a lot of research. However, the use of space manipulators for capture has always had great defects, that is, the tracking ability of the manipulator is limited, and it is difficult for tumbling targets with large angular velocities. Direct capture, and the risk of the target fleeing is relatively high

Some scholars have proposed to install a brush-type end effector at the end of the space manipulator, and reduce the angular velocity of the target through its contact with the target surface, gradually making it within the grasping ability of the manipulator. However, due to the small mass of the brush, the deformation Complex, its contact force modeling is difficult, and there is still a risk of target escape

[0004] To sum up, in order to realize the rigid connection capture of the space manipulator to the target, it is necessary to properly de-rotate the tumbling target with a large angular velocity in advance, so that the tumbling target gradually enters a slow-rotation state. Within the range, and it is necessary to consider the target cage during the derotation process, so as not to push the target away from the tracking spacecraft, and then cause unnecessary relative orbit control problems

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