空间机器人研究进展及技术挑战

doi:10.7527/S1000-6893.2020.23963

Abstract

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

CLC Number:

MENG Guang, HAN Liangliang, ZHANG Chongfeng. Research progress and technical challenges of space robot[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 523963-523963.

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Research progress and technical challenges of space robot

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