1U-Sized Deployable Space Manipulator for Future On-Orbit Servicing,Assembly,and Manufacturing
作者机构：State Key Laboratory of RoboticsShenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyang 110169China University of Chinese Academy of SciencesBeijing 100049China National Innovation Institute of Defense TechnologyAcademy of Military SciencesBeijingChina
出 版 物：《Space(Science & Technology)》 (空间科学与技术（英文）)
年 卷 期：2022年第2022卷第1期
页 面：500-513页
核心收录：
学科分类：08[工学] 0825[工学-航空宇航科学与技术] 0704[理学-天文学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置]
基 金：supported by the National Key R&D Program of China(2018YFB1304600) the National Natural Science Foundation of China(51775541) the CAS Interdisciplinary Innovation Team(JCTD-2018-11)
摘 要：Miniaturized,multifunctional,and economical on-orbit service satellites have been increasingly used with the continuous increase of space exploration *** this paper,an innovative deployable manipulator is designed,named Cubot,which can be stowed in 1 U-sized(10 cm×10 cm×10 cm)*** CubeSat as the carrier,the deployable Cubot aims to achieve a variety of on-orbit operation tasks including space debris removal and space station on-orbit maintenance,for future on-orbit servicing,assembly,and manufacturing(OSAM).A kinematics modeling method of a space manipulator with passive joints is proposed,and the motion equation of the manipulator is *** the elastic potential energy stored in the passive joint during deployment,the momentum change of Cubot is simulated and *** the main forced element,the end effector is analyzed using *** stress response with respect to the force distribution and the clamping angle is analyzed to evaluate mechanical performances of the end-effector *** tests are conducted to verify the feasibility of Cubot based on a principled prototype,which aims to provide engineering and practical experience for the development of this field.
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