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

A space robot and working method technology, applied in the aerospace field, can solve problems such as attitude maneuver failure, and achieve the effect of avoiding influence, saving working medium and good safety.

Active Publication Date: 2021-06-11
RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 solve the problem that the plume generated by the base maneuver of the space robot may enter the working space of the manipulator and make the attitude maneuver invalid

Method used

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

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Embodiment Construction

[0033] The present invention will be further described in detail below in conjunction with specific embodiments, which are explanations of the present invention rather than limitations.

[0034] Such as figure 1 As shown, the present invention discloses a space robot that reduces the influence of the wake of the attitude engine 3, including a robot base 2, a mechanical arm 4, a gripper 5, an apogee engine 1 and an attitude engine 3 groups, and the apogee engine 1 is installed on the robot base. Above the seat 2, one end of the mechanical arm 4 is installed below the robot base 2, and the other end is connected with the gripper 5. Each face of the robot base 2 is equipped with a group of attitude engines 3, and each group of attitude engines 3 includes four engines. A total of 24 attitude engines3. A wake steering gear 6 is installed on the front, rear, left, and right sides of the robot base 2. The wake steering gear 6 includes a servo motor, a transmission shaft 12 and a wak...

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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...

Claims

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Application Information

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IPC IPC(8): B64G1/10B64G1/22
CPCB64G1/10B64G1/105B64G1/22
Inventor 郑子轩车德佳张博
Owner RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN
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