Multi-dimensional manipulator operation control system of space environment test chamber

Abstract

The invention discloses a space environment test chamber multi-dimensional manipulator operation control system, which comprises a first sensing layer, an operation control layer, a second sensing layer, a fault diagnosis module, a component health evaluation model, a joint health fusion evaluation model, an environment factor correction model and a response layer, and is characterized in that the response layer comprises a component operation and maintenance unit and a joint operation and maintenance unit; and the cooperation unit is used for realizing cooperation operation and maintenance of the component operation and maintenance unit and the joint operation and maintenance unit through a data real-time mutual transmission cooperation mechanism, a priority linkage cooperation mechanism and an operation and maintenance effect closed-loop cooperation mechanism. Through quantitative calculation of the joint component health degree, the joint overall health degree and the space environment influence, the joint fault assessment accuracy is improved, a visual and clear data basis is provided for making operation and maintenance strategies, the corresponding operation and maintenance strategies are made for different health levels, the joint operation and maintenance efficiency is improved, and the joint fault assessment method has the advantages of being high in practicability and easy to popularize. And therefore, the operation performance of the whole multi-dimensional manipulator operation control system is improved.

Description

Technical Field

[0001] This invention belongs to the field of space environment manipulator technology, specifically, it relates to a multi-dimensional manipulator operation control system for a space environment test chamber. Background Technology

[0002] The multi-dimensional manipulator of the space environment test module is a high-precision automated operating device designed specifically for the space test module. It achieves movement and attitude adjustment in three directions in space through multi-degree-of-freedom joints. It can replace astronauts in performing delicate operations such as sample processing, reagent refueling, Hall thruster maintenance, and device replacement in the special environment of space. It is a core execution tool for space missions. Its corresponding operation control system integrates functional modules such as sensing, control, drive execution, and operation and maintenance to achieve real-time status monitoring and operation and maintenance of the manipulator, as well as precise control of multi-degree-of-freedom motion, thereby ensuring that the manipulator can stably, efficiently, and safely complete various operation tasks in the space test module.

[0003] To meet the mission requirements of the space environment test chamber and to match operational precision, load capacity, and spatial constraints, the multi-dimensional manipulator is equipped with multiple joints. For example, when maintaining the Hall thruster, which is the core of the power system, the multi-dimensional manipulator is equipped with at least six joints during the disassembly, inspection, and replacement of the Hall thruster, based on the high-pressure, strong magnetic, and high-load structural characteristics of the Hall thruster. For in-depth maintenance, nine or even thirteen joints are usually required. With so many joints, if one or more joints malfunction, it will seriously affect the quality of the Hall thruster maintenance task and may even lead to the inability to complete the maintenance task. In order to detect joint malfunctions in a timely manner, the status of each component of the manipulator joint is usually monitored in real time. Once a fault is detected, corresponding maintenance operations are carried out.

[0004] However, simply monitoring and describing component faults, such as reporting only "fluctuations in motor drive current" or "abnormal bearing vibration," cannot accurately determine the severity of joint component faults. Astronauts or ground control centers find it difficult to quickly determine whether to interrupt the mission and to formulate maintenance strategies. Furthermore, joint component faults can have a cascading effect; a fault in a local component can propagate to the entire joint through mechanical and electrical pathways. Assessing only local components can reduce the accuracy of the assessment or even lead to misjudgments. To assess faults more intuitively and clearly, it is crucial to conduct quantitative health assessments of joint components and the joint as a whole, and to formulate corresponding maintenance strategies. Moreover, joint component maintenance and overall joint maintenance often suffer from disconnect, duplication, and poor results. How to coordinate joint component maintenance and overall joint maintenance is also an important research topic. In addition, the space environment differs from the ground environment, exhibiting extreme temperature differences, strong radiation, and micro-vibration characteristics. These environmental characteristics can affect the inherent performance parameters of the joint, thereby affecting the accuracy of joint fault assessment. Summary of the Invention

[0005] To overcome the aforementioned shortcomings in the prior art, this invention provides a multi-dimensional assessment architecture for the joint construction of a multi-dimensional manipulator in a space environment test chamber. This architecture includes joint component-level health assessment, overall joint health fusion, and environmental factor correction. It enables quantitative assessment from local component failures to the overall health status of the joint. Furthermore, through real-time data exchange, priority linkage, and a closed-loop collaborative mechanism for operation and maintenance effects, it achieves collaboration between joint component operation and maintenance and overall joint operation and maintenance, thereby improving the accuracy of joint failure assessment and the efficiency of operation and maintenance.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A multi-dimensional manipulator operation control system for a space environment test chamber includes: a first perception layer for real-time acquisition of multi-dimensional manipulator status data; an operation control layer for formulating multi-dimensional manipulator execution strategies based on the data acquired by the first perception layer; a second perception layer for real-time acquisition of status data of the manipulator joint components and the space environment test chamber; a fault diagnosis module for processing and identifying component fault signals based on the joint component status data acquired by the second perception layer; a component health assessment model for quantifying the health of joint components based on fault feature information output by the fault diagnosis module; a joint health fusion assessment model for comprehensively quantifying the overall joint health by combining the health assessments and importance weights of each joint component; an environmental factor correction model for correcting the overall joint health data output by the joint health fusion assessment model based on environmental impact; and a response layer for performing operation and maintenance on joint components and the entire joint based on the health data calculated by the component health assessment model and the environmental factor correction model. The response layer includes a component maintenance unit that performs maintenance operations on joint components and a joint maintenance unit that performs maintenance operations on the joint as a whole, as well as a collaboration unit that enables the component maintenance unit and the joint maintenance unit to perform collaborative maintenance through a real-time data transmission collaboration mechanism, a priority linkage collaboration mechanism, and a closed-loop collaboration mechanism for maintenance effects.

[0007] Furthermore, the joint components include a motor, a reducer, a joint shaft, and bearings. The component health assessment model evaluates the health of the motor, reducer, joint shaft, and bearings using the following function. The motor health assessment function is:

[0008] In the formula: Indicates the health status of the motor. Indicates the first Class of faults, Indicates the motor number The severity of the type of failure, Indicates the first Fault weights for different types of faults; The reducer health assessment function is:

[0009] In the formula: Indicates the health status of the reducer. Indicates the feature number, Indicates the first reducer One characteristic, Indicates the first reducer Normal threshold for each feature Indicates the speed reducer The failure threshold of each feature Indicates the first Feature weights of each feature; The joint axis health assessment function is as follows:

[0010] In the formula: Indicates the health of the joint axis. This indicates the degree of membership of the joint axis to the normal category. Indicates the first Class of faults, Indicates the first Membership degree of a fault class Indicates the first The severity of the type of failure; The bearing health assessment function is:

[0011] In the formula: Indicates the health status of the bearing. Indicates the severity of bearing failure. This indicates the confidence level of the fault diagnosis.

[0012] Furthermore, the joint health fusion assessment model evaluates the overall health of the joints using the following function:

[0013] In the formula: It indicates the overall health of the joints. Indicates the health status of the motor. Indicates the motor weight. Indicates the health status of the reducer. Indicates the weight of the reducer. Indicates the health of the joint axis. Indicates the joint axis weight. Indicates the health status of the bearing. Indicates the bearing weight.

[0014] Furthermore, the environmental factor correction model uses the following function to correct and assess the overall joint health:

[0015] In the formula: This indicates the adjusted overall health of the joints. It indicates the overall health of the joints. Indicates temperature weighting. Indicates the degree of temperature influence. Indicates radiation weight, Indicates the degree of radiation impact. Indicates the weight of micro-vibrations. This indicates the degree of influence of micro-vibrations.

[0016] Furthermore, the operation and maintenance steps of the component operation and maintenance unit are as follows: S101: Based on the severity of joint component failures, a five-level health rating system is established for components, namely: Excellent, Good, Medium, Poor, and Failure. S102: Develop maintenance plans corresponding to the five health levels of components based on maintenance costs; S103: Establish a collaborative mechanism between component-level and joint-level operation and maintenance; S104: Based on the health assessment score output by the component health assessment model, classify the corresponding component into the corresponding health level; S105: Generate component operation and maintenance strategies based on the assigned health level and the established operation and maintenance plan, combined with the collaborative mechanism.

[0017] Furthermore, the operation and maintenance steps of the joint operation and maintenance unit are as follows: S301: A five-level joint health rating system is established based on the degree of joint health: Excellent, Good, Average, Poor, and Failure. S302: Develop maintenance plans corresponding to the five health levels of joints based on maintenance costs; S303: Establish a collaborative mechanism for component-level and joint-level operation and maintenance; S304: Based on the health assessment score of the environmental factor correction model, classify the current joint health status into the corresponding health level; S305: Generate component operation and maintenance strategies based on the assigned health level and the established operation and maintenance plan, combined with the collaborative mechanism.

[0018] Furthermore, the real-time data transmission and collaboration mechanism performs dual-path backup and CRC verification on the data.

[0019] Furthermore, the priority linkage and coordination mechanism first establishes a priority matrix of component failure severity and joint impact weight, then automatically generates an operation and maintenance task list based on the priority matrix and marks the task order, and sets a dynamic adjustment mode to cope with sudden upgrades of component failure.

[0020] Furthermore, the closed-loop collaborative mechanism for operation and maintenance effect outputs a maintenance effect report after the component-level operation and maintenance is completed, recalculates the joint health based on the maintenance effect report, and constructs an operation and maintenance knowledge base for the test cabin based on historical operation and maintenance data.

[0021] Furthermore, the importance weights of joint components are determined using the analytic hierarchy process (AHP).

[0022] Compared with the prior art, the present invention has the following beneficial effects: (1) This invention calculates the health of joint components by setting up a component health assessment model, thereby realizing a quantitative assessment of the severity of joint component failures and providing specific data support for formulating component operation and maintenance strategies. At the same time, by setting up a joint health fusion assessment model to quantify the overall health of the joint, it not only overcomes the problem of reduced assessment accuracy or even misjudgment caused by only assessing local components, but also presents the overall health of the joint more intuitively and clearly with specific health data, providing a data basis for formulating joint operation and maintenance strategies. In addition, the response layer coordinates the operation and maintenance of joint components and the overall operation and maintenance of the joint through the collaborative mechanism of the collaborative unit, overcoming the problems of mutual disconnect, repetitive operation and maintenance, and poor effect that often occur in component-level operation and maintenance and joint-level operation and maintenance. In terms of the impact of the spatial environment, the output data of the joint health fusion assessment model is corrected by the environmental factor correction model, which further improves the accuracy of joint failure assessment.

[0023] (2) The present invention constructs corresponding health assessment functions for the core components of the joint, namely motor, reducer, joint shaft and bearing, and realizes the quantitative assessment of the severity of the faults of motor, reducer, joint shaft and bearing. Based on the health assessment of motor, reducer, joint shaft and bearing, the invention constructs joint health fusion assessment model function and environmental factor correction model function to realize the quantitative calculation of the overall health of the joint.

[0024] (3) The component operation and maintenance unit of the response layer of the present invention generates an efficient component operation and maintenance strategy based on the health data calculated by the component health assessment model by formulating the five-level health level of the component and the corresponding operation and maintenance plan and establishing the collaborative mechanism. The joint operation and maintenance unit also formulates the five-level health level of the joint and the corresponding operation and maintenance plan based on the joint as a whole. Combined with the collaborative mechanism and the output data of the environmental factor correction model, it generates an efficient joint operation and maintenance strategy. The present invention realizes specific quantitative multi-dimensional collaborative operation and maintenance through the combined application of the generated component operation and maintenance strategy and the joint operation and maintenance strategy, thereby improving the operation and maintenance efficiency of multi-dimensional robotic joints.

[0025] (4) The real-time data transmission and collaboration mechanism of this invention adopts dual-path backup and CRC verification to avoid data transmission errors caused by strong electromagnetic interference; the priority linkage collaboration mechanism is equipped with a dynamic adjustment mode, and when the failure of a certain component suddenly escalates, the collaboration mechanism will automatically recalculate the priority; the operation and maintenance effect closed-loop collaboration mechanism sets up an experimental cabin operation and maintenance knowledge base to store and record data such as the cause of failure, handling measures, and achieved results during the operation and maintenance process, providing data reference for the continuous improvement of component operation and maintenance units and joint operation and maintenance units. The importance weight of each joint component in this invention is quantitatively derived using the analytic hierarchy process (AHP). The AHP transforms importance into calculable weight values ​​through the logic of decomposition-judgment-synthesis, thereby ensuring the scientificity and accuracy of the quantitative calculation of the overall health of the joint. Attached Figure Description

[0026] Figure 1 This is a schematic diagram illustrating the structural principle of the multi-dimensional robotic arm operation control system for the space environment test chamber of this invention.

[0027] Figure 2 This is a schematic diagram of the process steps for generating the operation and maintenance strategy of the component operation and maintenance unit of the present invention.

[0028] Figure 3 This is a schematic diagram of the process steps for generating the operation and maintenance strategy of the joint operation and maintenance unit in this invention.

[0029] Figure 4 This is a schematic diagram illustrating the relationship between the collaborative mechanism of this invention and the component maintenance unit and joint maintenance unit.

[0030] Figure 5 This is a schematic diagram illustrating the various collaborative principles of the collaborative mechanism of this invention.

[0031] In the above figures, the component names corresponding to the reference numerals are as follows: 1-First perception layer, 2-Operation control layer, 3-Second perception layer, 4-Fault diagnosis module, 5-Component health assessment model, 6-Joint health fusion assessment model, 7-Environmental factor correction model, 8-Response layer, 801-Component operation and maintenance unit, 802-Joint operation and maintenance unit, 803-Collaboration unit, 9-Multi-dimensional manipulator, 901-Joint component, 901a-Motor, 901b-Reducer, 901c-Joint shaft, 901d-Bearing, 10-Space environment test chamber. Detailed Implementation

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments. The embodiments of the present invention include, but are not limited to, the following embodiments.

[0033] Example like Figures 1 to 5 As shown, this embodiment provides a multi-dimensional manipulator operation control system for a space environment test chamber, including a first perception layer 1, an operation control layer 2, a second perception layer 3, a fault diagnosis module 4, a component health assessment model 5, a joint health fusion assessment model 6, an environmental factor correction model 7, and a response layer 8. The first perception layer 1 is used to collect the state data of the multi-dimensional manipulator 9 in real time. The sensing devices used include a joint encoder, a torque sensor, and a vision system. The operation control layer calculates the position information fed back by the joint encoder in real time, the torque measured by the torque sensor, and the target posture identified by the vision system to formulate an execution strategy, ensuring high-precision operation of the multi-dimensional manipulator 9. The second perception layer 3 collects the mechanical and electrical state data of the joint components 901 of the multi-dimensional manipulator 9 in real time through sensors. Simultaneously, the second perception layer... 3. Real-time temperature, radiation, and micro-vibration status data of the space environment test chamber 10 are collected by sensing devices. The fault diagnosis module 4 processes and identifies component fault signals based on the mechanical and electrical status data of the joint components collected by the second sensing layer 3. The component health assessment model 5 quantifies the health of the joint component 901 based on the fault characteristic information output by the fault diagnosis module 4. The joint health fusion assessment model 6 combines the health assessment and importance weight of each joint component 901 to perform a comprehensive quantitative calculation of the overall health of the joint. The environmental factor correction model 7 corrects the overall health data of the joint output by the joint health fusion assessment model 6 based on environmental impact. The response layer 8 performs operation and maintenance operations on the joint component 901 and the joint as a whole based on the health data calculated by the component health assessment model 5 and the environmental factor correction model 7.

[0034] In this embodiment, the response layer 8 includes a component maintenance unit 801, a joint maintenance unit 803, and a collaboration unit 802. The component maintenance unit 801 performs maintenance operations on the joint component 901, and the joint maintenance unit 803 performs maintenance operations on the entire joint. The collaboration unit 802 achieves collaborative maintenance between the component maintenance unit 801 and the joint maintenance unit 803 through a real-time data transmission collaboration mechanism, a priority linkage collaboration mechanism, and a closed-loop collaboration mechanism for maintenance effects. The component maintenance unit 801 performs maintenance from the joint component level, while the joint maintenance unit 803 performs maintenance from the overall joint level. The two are integrated to avoid the risk of excessive local maintenance and missed maintenance of the entire joint. At the same time, the setting of the collaboration unit 802 effectively solves the problems of disconnection, repetitive maintenance, and poor results that often occur in the maintenance of joint components and the overall joint, thus improving maintenance efficiency.

[0035] In this embodiment, the joint components include a motor 901a, a reducer 901b, a joint shaft 901c, and a bearing 901d. The motor 901a serves as a power source, converting electrical energy into mechanical energy to provide power. The reducer 901b acts as a power adjustment hub to optimize the transmission. The joint shaft 901c serves as a structural carrier, transmitting torque and maintaining joint rigidity. The bearing 901d acts as a friction optimization unit, reducing frictional resistance during joint shaft rotation and ensuring smooth movement. The motor 901a, reducer 901b, joint shaft 901c, and bearing 901d form a complete motion link through functional coupling. In this embodiment, the second sensing layer collects status data from the motor 901a, reducer 901b, joint shaft 901c, and bearing 901d. Specifically, the motor 901a collects current and temperature data using a Hall current sensor and a temperature sensor, respectively. The reducer 901b collects vibration, lubricating oil film thickness, and temperature data using a piezoelectric accelerometer, an ultrasonic sensor, and a fiber Bragg grating sensor, respectively. The joint shaft 901c collects vibration and temperature data using a piezoelectric accelerometer and a fiber Bragg grating sensor, respectively. The bearing 901d collects stress and rotational speed data using a strain gauge and a photoelectric encoder, respectively. The fault diagnosis module 4 uses the data collected by the second sensing layer 3 to identify potential faults in the motor 901a, reducer 901b, joint shaft 901c, and bearing 901d. The deployment and operation of the second sensing layer 3 and the fault diagnosis module 4 in this embodiment can be implemented using existing conventional hardware and software designs; their specific hardware and software structures will not be described in detail in this embodiment.

[0036] In this embodiment, component health assessment model 5 assesses the health of motor 901a, reducer 901b, joint shaft 901c, and bearing 901d by setting functions. The motor health assessment function is as follows:

[0037] In the formula: This indicates the health status of motor 901a. Indicates the first Class of faults, Indicates motor 901a The severity of the type of failure, Indicates the first Fault weights for different types of faults; The reducer health assessment function is:

[0038] In the formula: This indicates the health status of reducer 901b. Indicates the feature number, This indicates the reducer 901b. One characteristic, This indicates the reducer 901b. Normal threshold for each feature This indicates the reducer 901b. The failure threshold of each feature Indicates the first Feature weights of each feature; The joint axis health assessment function is as follows:

[0039] In the formula: This indicates the health status of joint axis 901c. This indicates the degree of membership of joint axis 901c in the normal category. Indicates the first Class of faults, Indicates the first Membership degree of a fault class Indicates the first The severity of the type of failure; The bearing health assessment function is:

[0040] In the formula: This indicates the health status of bearing 901d. This indicates the severity of the bearing 901d failure. This indicates the confidence level of the fault diagnosis.

[0041] Based on the individual health assessment functions for motor 901a, reducer 901b, joint shaft 901c, and bearing 901d, the joint health fusion assessment model 6 assesses the overall health of the joint using the following functions:

[0042] In the formula: It indicates the overall health of the joints. This indicates the health status of motor 901a. Indicates the motor weight. This indicates the health status of reducer 901b. Indicates the weight of the reducer. This indicates the health status of joint axis 901c. Indicates the joint axis weight. This indicates the health status of bearing 901d. Indicates the bearing weight.

[0043] This embodiment assesses the overall health of joints by correcting the effects of extreme temperature differences, strong radiation, and micro-vibration in the spatial environment on the inherent performance parameters of joints. The environmental factor correction model 7 is defined as follows.

[0044] In the formula: This indicates the adjusted overall health of the joints. It indicates the overall health of the joints. Indicates temperature weighting. Indicates the degree of temperature influence. Indicates radiation weight, Indicates the degree of radiation impact. Indicates the weight of micro-vibrations. This indicates the degree of influence of micro-vibrations.

[0045] in, , , The following formula is used for calculation:

[0046]

[0047]

[0048] In the formula: Indicates the degree of temperature influence. Indicates temperature. Indicates the degree of radiation impact. Indicates radiation dose rate, Indicates the degree of influence of micro-vibrations. It represents the acceleration of micro-vibrations.

[0049] In this embodiment, the component maintenance unit 801 performs maintenance operations according to the set maintenance steps. S101: Based on the severity of the fault in the joint component 901, a five-level health rating is established for the component: Excellent, Good, Medium, Poor, and Failure. S102: Maintenance plans corresponding to the five health ratings are developed based on maintenance costs. S103: A collaborative mechanism between component-level and joint-level maintenance is established. S104: The corresponding component is assigned to the appropriate health rating based on the health assessment score output by the component health assessment model 5. S105: A component maintenance strategy is generated based on the assigned health rating, the developed maintenance plan, and the collaborative mechanism. The health assessment score, component status description, and maintenance plan corresponding to the five health ratings are shown in the table below.

[0050]

[0051] In this embodiment, the joint maintenance unit 803 performs maintenance operations according to the set maintenance steps: S301: A five-level health rating system is established for the joint based on its health status: Excellent, Good, Medium, Poor, and Failure; S302: Maintenance plans are developed based on maintenance costs for each of the five health levels; S303: A collaborative mechanism between component-level and joint-level maintenance is established; S304: The current joint health status is assigned to the corresponding health level based on the health assessment score from the environmental factor correction model 7; S305: A component maintenance strategy is generated based on the assigned health level, the developed maintenance plan, and the collaborative mechanism. The health assessment score, joint status description, and maintenance plan corresponding to the five health levels are shown in the table below.

[0052]

[0053] In this embodiment, the collaborative unit 802 achieves collaborative operation and maintenance between the component operation and maintenance unit 801 and the joint operation and maintenance unit 803 through a real-time data transmission collaboration mechanism, a priority linkage collaboration mechanism, and a closed-loop operation and maintenance effect collaboration mechanism. The real-time data transmission collaboration mechanism employs dual-path data backup and CRC verification to ensure accurate data transmission when the component health assessment model 5 is uploaded to the joint health fusion assessment model 6 and when joint operation and maintenance instructions are synchronously issued to the component operation and maintenance unit 801. The priority linkage collaboration mechanism establishes a priority matrix of component fault severity and joint impact weights to achieve priority linkage. Based on this priority matrix, it automatically generates an operation and maintenance task list, marks the task order, and sets a dynamic adjustment mode to cope with sudden component fault escalations. The closed-loop operation and maintenance effect collaboration mechanism promptly outputs a maintenance effect report after component-level operation and maintenance is completed. Based on the maintenance effect report, it recalculates the joint health level and builds a test chamber operation and maintenance knowledge base based on historical operation and maintenance data to accumulate operation and maintenance experience.

[0054] In this embodiment, dual-path data backup utilizes hardware redundancy to construct a transmission channel combining a primary link and a backup link, resolving issues such as link breakage or signal attenuation caused by strong electromagnetic interference in space and extreme temperatures. The CRC checksum in this embodiment stands for Cyclic Redundancy Check, a fast algorithm that generates a short, fixed-length checksum based on data such as network packets or computer files. This embodiment considers the varying importance of each joint component 901 to the robot's joint function and employs the Analytic Hierarchy Process (AHP) to determine the importance weight of each joint component 901. AHP, also known as the Hierarchical Analysis Method, is a structured technique combining mathematics and psychology for organizing and analyzing complex decision-making problems. Through a decomposition-judgment-synthesis logic, importance is transformed into calculable weight values, thereby ensuring the scientific accuracy and quantification of the overall joint health. CRC checksum technology and AHP have been applied in practice, and their specific principles will not be elaborated in this embodiment.

[0055] In use, this invention deploys the various components of a multi-dimensional robotic arm operation control system in a space environment test chamber 10. The first perception layer 1 and the operation control layer 2 constitute the robotic arm execution closed loop. The second perception layer 3, fault diagnosis module 4, component health assessment model 5, joint health fusion assessment model 6, environmental factor correction model 7, and response layer 8 constitute the robotic arm joint operation and maintenance closed loop. In the joint operation and maintenance phase, by constructing a multi-dimensional assessment architecture encompassing joint component-level health assessment, overall joint health fusion, and environmental factor correction, a quantitative assessment of the transition from local component failures to the overall joint health status is achieved. Furthermore, through real-time data exchange, priority linkage, and a closed-loop collaborative mechanism for operation and maintenance effects, the system effectively manages the operation and maintenance of the robotic arm joints. By coordinating the maintenance of joint components and the overall joint, this invention improves the accuracy of joint fault assessment by quantitatively evaluating the joint component 901 and the joint as a whole, and by constructing a collaborative mechanism while considering the influence of the space environment. This enables the multi-dimensional manipulator 9 to successfully complete various operational tasks in the space test cabin. In particular, when maintaining the Hall thrusters, the invention performs health calculations and maintenance on numerous joints of the manipulator, ensuring the quality of Hall thruster maintenance tasks. The fault and health assessment process of this invention is intuitive and clear, and corresponding maintenance strategies are formulated for different health levels, thereby improving the efficiency of joint maintenance and ultimately enhancing the operational performance of the entire multi-dimensional manipulator operation and control system.

[0056] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any changes made based on the design principles of the present invention, or any non-creative modifications made thereon, shall fall within the scope of protection of the present invention.

Claims

1. A multi-dimensional robotic arm operation control system for a space environment test chamber, characterized in that... The system includes a first perception layer (1) for real-time acquisition of the status data of a multi-dimensional manipulator (9), an operation control layer (2) for formulating multi-dimensional manipulator execution strategies based on the data acquired by the first perception layer (1), a second perception layer (3) for real-time acquisition of the status data of the multi-dimensional manipulator joint components (901) and the space environment test chamber (10), a fault diagnosis module (4) for processing and identifying component fault signals based on the joint component status data acquired by the second perception layer (3), a component health assessment model (5) for quantitatively calculating the health of the joint components (901) based on the fault feature information output by the fault diagnosis module (4), a joint health fusion assessment model (6) for comprehensively quantifying the overall health of the joint by combining the health assessment and importance weight of each joint component (901), an environmental factor correction model (7) for correcting the overall health data of the joint output by the joint health fusion assessment model (6) based on environmental impact, and a response layer (8) for performing operation and maintenance on the joint components (901) and the joint as a whole based on the health data calculated by the component health assessment model (5) and the environmental factor correction model (7). The response layer (8) includes a component maintenance unit (801) that performs maintenance operations on the joint components (901) and a joint maintenance unit (803) that performs maintenance operations on the joint as a whole, as well as a coordination unit (802) that enables the component maintenance unit (801) and the joint maintenance unit (803) to perform coordinated maintenance through a real-time data transmission coordination mechanism, a priority linkage coordination mechanism, and a closed-loop coordination mechanism for maintenance effects.

2. The multi-dimensional robotic arm operation control system for a space environment test chamber according to claim 1, characterized in that: The joint component (901) includes a motor (901a), a reducer (901b), a joint shaft (901c), and a bearing (901d). The component health assessment model evaluates the health of the motor (901a), reducer (901b), joint shaft (901c), and bearing (901d) using the following function. The motor health assessment function is: ； In the formula: Indicates the health status of the motor (901a). Indicates the first Class of faults, Indicates the motor (901a) No. The severity of the type of failure, Indicates the first Fault weights for different types of faults; The reducer health assessment function is: ； In the formula: This indicates the health status of the reducer (901b). Indicates the feature number, Indicates the speed reducer (901b) number One characteristic, Indicates the speed reducer (901b) number Normal threshold for each feature Indicates the speed reducer (901b) number The failure threshold of each feature Indicates the first Feature weights of each feature; The joint axis health assessment function is as follows: ； In the formula: Indicates the health of the joint axis (901c). This indicates the degree of membership of the joint axis (901c) in the normal category. Indicates the first Class of faults, Indicates the first Membership degree of a fault class Indicates the first The severity of the type of failure; The bearing health assessment function is: ； In the formula: This indicates the health status of the bearing (901d). Indicates the severity of bearing (901d) failure. This indicates the confidence level of the fault diagnosis.

3. The multi-dimensional robotic arm operation control system for a space environment test chamber according to claim 2, characterized in that, The joint health fusion assessment model (6) assesses the overall health of the joints using the following functions: ； In the formula: It indicates the overall health of the joints. Indicates the health status of the motor (901a). Indicates the motor weight. This indicates the health status of the reducer (901b). Indicates the weight of the reducer. Indicates the health of the joint axis (901c). Indicates the joint axis weight. This indicates the health status of the bearing (901d). Indicates the bearing weight.

4. The multi-dimensional robotic arm operation control system for a space environment test chamber according to claim 3, characterized in that, The environmental factor correction model (7) uses the following function to correct and assess the overall joint health: ； In the formula: This indicates the adjusted overall health of the joints. It indicates the overall health of the joints. Indicates temperature weighting. Indicates the degree of temperature influence. Indicates radiation weight, Indicates the degree of radiation impact. Indicates the weight of micro-vibrations. This indicates the degree of influence of micro-vibrations.

5. The multi-dimensional robotic arm operation control system for a space environment test chamber according to claim 4, characterized in that, The operation and maintenance steps of the component operation and maintenance unit (801) are as follows: S101: Based on the severity of joint component failures, a five-level health rating system is established for components, namely: Excellent, Good, Medium, Poor, and Failure. S102: Develop maintenance plans corresponding to the five health levels of components based on maintenance costs; S103: Establish a collaborative mechanism between component-level and joint-level operation and maintenance; S104: Based on the health assessment score output by the component health assessment model (5), the corresponding component is classified into the corresponding health level; S105: Generate component operation and maintenance strategies based on the assigned health level and the established operation and maintenance plan, combined with the collaborative mechanism.

6. The multi-dimensional robotic arm operation control system for a space environment test chamber according to claim 5, characterized in that, The operation and maintenance steps of the joint operation and maintenance unit (803) are as follows: S301: A five-level joint health rating system is established based on the degree of joint health: Excellent, Good, Average, Poor, and Failure. S302: Develop maintenance plans corresponding to the five health levels of joints based on maintenance costs; S303: Establish a collaborative mechanism for component-level and joint-level operation and maintenance; S304: Based on the health assessment score of the environmental factor correction model (7), the current joint health status is classified into the corresponding health level; S305: Generate component operation and maintenance strategies based on the assigned health level and the established operation and maintenance plan, combined with the collaborative mechanism.

7. The multi-dimensional robotic arm operation control system for a space environment test chamber according to claim 6, characterized in that: The real-time data transmission and collaboration mechanism performs dual-path backup and CRC verification of the data.

8. The multi-dimensional manipulator operation control system for a space environment test chamber according to claim 6, characterized in that: The priority linkage and coordination mechanism first establishes a priority matrix of component failure severity and joint impact weight, then automatically generates an operation and maintenance task list based on the priority matrix and marks the task order, and sets a dynamic adjustment mode to cope with sudden upgrades of component failure.

9. The multi-dimensional manipulator operation control system for a space environment test chamber according to claim 6, characterized in that: The closed-loop collaborative mechanism for operation and maintenance results outputs a maintenance effect report after the component-level operation and maintenance is completed. Based on the maintenance effect report, the joint health is recalculated, and a test chamber operation and maintenance knowledge base is built based on historical operation and maintenance data.

10. A multi-dimensional manipulator operation control system for a space environment test chamber according to any one of claims 1-9, characterized in that: The importance weights of joint components were determined using the analytic hierarchy process (AHP).

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