空间机械臂技术综述及展望

doi:10.7527/S1000-6893.2020.24164

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空间机械臂技术综述及展望

刘宏, 刘冬雨, 蒋再男

哈尔滨工业大学机电工程学院, 哈尔滨 150080

收稿日期:2020-04-30 修回日期:2020-05-04 发布日期:2020-06-18
通讯作者: 蒋再男 E-mail:jiangzainan@hit.edu.cn
基金资助:
国家自然科学基金（51521003）

Space manipulator technology: Review and prospect

LIU Hong, LIU Dongyu, JIANG Zainan

School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150080, China

Received:2020-04-30 Revised:2020-05-04 Published:2020-06-18
Supported by:
National Natural Science Foundation of China (51521003)

摘要/Abstract

摘要： 介绍了国外空间机械臂在轨技术验证与工程应用的概况，从任务类型、构型配置、末端执行器与操作方式方面分析了空间机械臂技术的发展趋势。综述了空间机械臂的任务规划、系统控制、路径规划、视觉感知、末端执行器、遥操作控制及地面试验验证7项关键技术。介绍了中国试验七号与天宫二号空间机械臂在轨验证情况，重点介绍了正在研制的中国空间站机械臂基本方案。最后，总结了目前空间机械臂技术存在的问题，并对中国未来空间机械臂技术发展提出了建议。

关键词: 空间机械臂, 在轨服务, 载人航天, 在轨试验, 视觉感知

Abstract: The overseas space manipulator systems for on-orbit technology verification and engineering applications are reviewed, and the development trend of the space manipulator technology is analyzed from the aspects of task types, robot configurations, end effectors, and operation modes. Seven key technologies of space manipulators are summarized, including task planning, system control, path planning, visual perception, end effectors, teleoperation control, and ground verification. The on-orbit verification experiments of China space manipulators SY-7 and TianGong-2 are presented. Furthermore, the basic scheme of the Chinese space station manipulator system under development is introduced in detail. Finally, in view of the existing problems of the space manipulator technology, suggestions are put forward for the future development of the space manipulator technology in China.

Key words: space manipulators, on-orbit servicing, manned spacecraft, on-orbit experiments, visual perception

中图分类号:

V19
TP242.3

刘宏, 刘冬雨, 蒋再男. 空间机械臂技术综述及展望[J]. 航空学报, 2021, 42(1): 524164-524164.

LIU Hong, LIU Dongyu, JIANG Zainan. Space manipulator technology: Review and prospect[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 524164-524164.

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空间机械臂技术综述及展望

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