Space robot capable of reducing influence of wake flow of attitude engine and working method of space robot

Abstract

The invention belongs to the technical field of spaceflight, and particularly discloses a space robot which comprises a robot base, a mechanical arm and a control center, the mechanical arm is installed under the robot base, each face of the robot base is provided with a set of attitude engines, and each set of attitude engines comprises four engines; and wake flow steering engines are installed on the front working face, the rear working face, the left working face and the right working face of the robot base. Each wake flow steering engine comprises a servo motor and a wake flow guide plate. The invention also discloses a working method of the robot. The working method comprises the steps that a control center calculates whether the working space of the mechanical arm intersects with the + y plane, the-y plane, the + z plane and the-z plane or not according to all joint angles of the mechanical arm and the inherent geometric dimensions of all arms; if there is intersection, the control center calculates the maximum angle of an xz plane of a local coordinate system of the attitude engine, so that a servo motor is controlled to drive a wake flow guide plate to rotate, and wake flow is controlled to pass through an unreachable area of a mechanical arm; and if there is no intersection, the servo motor is in a standby state. Influence of the wake flow of the attitude engine on the mechanical arm is avoided.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and specifically discloses a space robot and a working method thereof which can reduce the influence of the attitude engine wake. Background technique [0002] In the context of the rapid development of space exploration, the types and operations of space missions have become very complex, which makes the space On-Orbit Servicing (OOS) more and more important. Space on-orbit service refers to the completion of space assembly, maintenance, and servicing (Space Assembly, Maintenance, and Servicing, SAMS) tasks for specific on-orbit targets through the cooperation of humans, robots or robot-like spacecraft in space. At present, all countries have space programs for space on-orbit services, such as "Orbital Express" and "Phoenix Project". As the mission of space on-orbit service becomes more and more complex and its cost is also higher and higher, it is required that the spacecraft performing the...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a space robot and its working method which can reduce the influence of the attitude engine wake, and solv

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