多臂空间机器人捕获自旋目标的协调运动规划研究

In fact, targets to be serviced in orbit are failure satellite, space debris, etc. These objects are in spin motion state that it is very difficult to capture them. For the key issue of multi-arm space robot capturing spinning target, Research carried out as follows: (1) established the kinematic equations and coupled dynamic model to Multi-arm space robot system capturing the spin target during various stages (before the capture, contact collision, after the capture); (2) the singularity-free method was proposed to plan the coordinated trajectories.of the balance arms to keep the base stable; (3) the coordinated planning method was proposed to reduce attitude deflection and keep complex system stable, on the situation of end load changing greatly and the cumulative effects of the collision force.. This research conforms to the trend on the development of on orbit service using space robot in our country, and has an important theoretical and practical significance in orbital maintenance, assembly, and rescue using space robot.

实际在轨服务的对象为在轨故障卫星、空间垃圾等，可能处于自旋运动状态，这对目标捕获提出了巨大挑战。本课题针对多臂空间机器人捕获自旋目标的关键问题，开展如下研究：（1）建立多臂空间机器人系统捕获自旋目标中各阶段(抓捕前、接触碰撞、抓捕后)的运动学方程和耦合动力学模型；（2）提出保持基座稳定的无奇异多臂协调运动规划方法，利用平衡臂抵消任务臂运动对基座产生的干扰，保持基座稳定；（3）提出复合体系统稳定的协调规划方法，解决末端负载发生极大变化、目标存在初始运动及碰撞力累积作用下，基座姿态偏转，复合体系统失稳的问题。. 课题的研究顺应了我国大力发展空间机器人在轨服务技术的大方向，对于未来开展空间机器人在轨维护、装配、援救等任务，具有重要的理论研究意义和工程应用价值。