Passive target synchronous racemization capture operation method based on space multi-arm contact

An operation method and target technology, applied in the field of passive target synchronous derotation capture operation, which can solve problems such as dependence

Active Publication Date: 2021-02-23
RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the problems existing in the prior art, the present invention provides a passive target synchronous derotation capture operation method based on space multi

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  • Passive target synchronous racemization capture operation method based on space multi-arm contact
  • Passive target synchronous racemization capture operation method based on space multi-arm contact
  • Passive target synchronous racemization capture operation method based on space multi-arm contact

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] Such as figure 1 As shown, the present invention provides a passive target synchronous derotation capture operation method based on space multi-arm contact, using multiple contact points of the service spacecraft 1, that is, the mechanical arm terminal such as figure 1 The rubber pads 3 at the end of the arms 2 of the multiple robotic arms 2 repeatedly collide with the space tumbling target 4, and finally make sliding contact, relying on the tangential force to achieve derotation. During this process, the external force suffered by the space tumbling target 4 makes the space tumbling target move towards the desired position of the target, and the trajectory obtained through optimization is figure 1 Serve the spacecraft base trajectory 6 in the center, so that the target's pose at the terminal moment reaches the expected target's desired...

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Abstract

The invention discloses a passive target synchronous racemization capture operation method based on space multi-arm contact. The method comprises the following steps: step 1, making a service spacecraft enter an orbit of a space rolling target and synchronously moves along with the orbit of the space rolling target; step 2, obtaining the measurement information of a space rolling target by the service spacecraft; step 3, optimizing the base track of the service spacecraft and all joint tracks and driving force input of the mechanical arm in an offline mode, forming a track for contact racemization capture and serving as a reference track; step 4, generating an extended reference trajectory based on the reference trajectory obtained by optimization; and step 5, executing a task, tracking the expanded reference trajectory, and realizing contact racemization capture of the space rolling target. Aiming at a spatial non-cooperative rolling target, any capture point on the target is not needed, the target can be automatically racemized, and capture and operation of the target are achieved at the same time when racemization is completed.

Description

technical field [0001] The invention belongs to the technical field of space capture, in particular to a passive target synchronous derotation capture operation method based on space multi-arm contact. Background technique [0002] With the continuous exploration and utilization of space resources by human beings, a large amount of space garbage caused by various reasons such as malfunctioning satellites, various explosions, and debris has gradually caused a shortage of space resources, and at the same time caused serious damage to space security. threaten. It is imminent to clean up invalid spacecraft or orbital junk, but due to the non-cooperative nature of space junk (for example, no special capture and docking mechanism, no cooperative markers for measurement, and often in a state of unstable attitude), it is extremely challenging to capture sex. [0003] The existing capture methods mainly include mechanical arm capture and flying net capture. Among them, the capture...

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Application Information

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IPC IPC(8): B64G4/00
CPCB64G4/00B64G2004/005
Inventor 郑子轩李晨朱战霞
Owner RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN
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