中国空间科学技术2013，Vol.33Issue(1)：53-60,8.DOI:10.3780/j.issn.1000-758X.2013.01.008
空间机械臂系统总体技术指标确定方法
Determination Method of Overall Technology Index for Space Manipulator
摘要
Abstract
The determination of the overall technology index is a key to the overall design of space manipulator. An overall performance indexes determination method of a space manipulator were presented. The dynamic simulation study was also performed. Firstly, considering the mission objectives and combining with the overall constraints, the main technology indexes, including manipulator length, end-effector positing and orientating accuracies, the maximum end-effector velocities, and joint drive torques, and so on, were demonstrated. Secondly, the multi-body dynamic model of a space robotic system was created. Based on this model, the manipulation process of the space robot carrying a payload under normal and extreme conditions was simulated. Simulation results show that the proposed ideas and methods are very useful for the development of the space robot system.关键词
空间机械臂/在轨服务/动力学仿真/航天器Key words
Space manipulator/ On-orbit servicing/ Dynamic simulation/ Spacecraft引用本文复制引用
徐文福,杜晓东,王成疆,梁斌..空间机械臂系统总体技术指标确定方法[J].中国空间科学技术,2013,33(1):53-60,8.基金项目
国家自然科学基金(61175098),航天科技创新基金(CASC201102)资助项目 （61175098）
