航空学报 > 2021, Vol. 42 Issue (1): 523963-523963   doi: 10.7527/S1000-6893.2020.23963

空间机器人研究进展及技术挑战

孟光1,3, 韩亮亮1,2, 张崇峰1,2   

  1. 1. 中国航天科技集团有限公司 空间结构与机构技术实验室, 上海 201109;
    2. 上海宇航系统工程研究所, 上海 201109;
    3. 上海交通大学 机械系统与振动国家重点实验室, 上海 200240
  • 收稿日期:2020-03-11 修回日期:2020-03-28 发布日期:2020-08-25
  • 通讯作者: 孟光 E-mail:gmeng@sjtu.edu.cn
  • 基金资助:
    国家自然科学基金重点项目(11932011);民用航天技术预先研究项目(D030103);载人航天预先研究项目(030601)

Research progress and technical challenges of space robot

MENG Guang1,3, HAN Liangliang1,2, ZHANG Chongfeng1,2   

  1. 1. Space Structure and Mechanism Technology Laboratory, China Aerospace Science and Technology Group Co. Ltd, Shanghai 201109, China;
    2. Aerospace System Engineering Shanghai, Shanghai 201109, China;
    3. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240, China
  • Received:2020-03-11 Revised:2020-03-28 Published:2020-08-25
  • Supported by:
    National Natural Science Foundation of China (11932011); Civil Aerospace Technology Advance Research Project (D030103); Manned Space Advance Research Project (030601)

摘要: 空间机器人是实现空间操控自动化和智能化的使能手段之一,在无人及载人的空间科学探索活动中至关重要。首先,回顾了国际空间站舱内外机器人、中国空间站机器人、在轨自由飞行空间机器人等几类轨道空间机器人工程应用现状,以及已成功在轨应用月面机器人和火星机器人两类星表机器人系统的应用现状。其次,针对空间机器人后续日益复杂的任务需求,探讨了空间机器人在机构构型、关节驱动、末端操作、感知认知、行走移动、动力学与控制等方面面临的技术挑战。然后,论述了空间机器人在多臂、超冗余、柔性化、可重构、仿生等新型机构构型方面的探索,介绍了空间机器人主动、被动柔顺关节方面的研究进展,论述了空间机器人末端执行器在专用化工具及通用化多指灵巧手两个方向的研究进展,总结了星表机器人在新型移动机构构型、高自主导航方面的研究进展,介绍了空间机器人在多传感器集成融合、力与触觉感知方面的研究进展,论述了空间机器人在多臂协调控制、柔顺控制、漂浮基座抓捕动力学控制等方面的研究进展。最后,展望了空间机器人在空间目标抓捕与移除、高价值飞行器在轨服务与维修、空间大型构件在轨组装及星球科学探测等方面的应用前景。

关键词: 空间机器人, 轨道空间机器人, 星表空间机器人, 载人航天, 空间站

Abstract: Space robots as one of the enabling means to realize automatic and intelligent on-orbit operations, play a critical role in both manned and unmanned space scientific explorations. The engineering application status of several types of orbital space robots is firstly reviewed, including the International Space Station extravehicular and intravehicular robots, the Chinese Space Station robots, and some free flying space robots. First, the application status of two kinds of planetary robots successfully applied is also reviewed, including the lunar robots and the Mars robots. Secondl, in view of the increasingly complex task requirements for space robots, the technical challenges faced by space robots in mechanism configuration, actuator joints, end effectors, perception and cognition, mobility, dynamics and control are discussed. The exploration of some novel mechanism configurations for space robots in multi-arm, super redundancy, flexibility, reconfiguration and bionic design is then reviewed, and the research progress of active and passive compliant joints for space robots, as well as progress of space robot end-effectors in specialized tools and universal multi-finger dexterous hands is introduced. In addition, the research progress of new mobile mechanism configuration and high autonomous navigation for planetary robots multi-sensor integration and fusion, force and tactile perception of space robots, and multi-arm coordination control, compliance control, dynamic control for capturing on floating bases of space robots is reviewed. Finally, the future application of space robots in the capture and removal of orbital targets, in-orbit service and maintenance for high-value spacecraft, on-orbit assembly of large space structures, and planetary scientific explorations are prospected.

Key words: space robots, orbital space robots, planetary robots, manned space flight, space station

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