Maintenance system design and verification for space station manipulator end-effector

doi:10.16708/j.cnki.1000-758X.2023.0071

Abstract

Abstract: Maintenance is very important to extend the life span of the space station robotic arm.Aiming at the maintenance of the end effector of the robotic arm of the space station，the onorbit maintenance and repair tasks that have been completed on the International Space Station were investigated，and a scheme for the maintenance of the end effector of the robotic arm of the space station was proposed.Using the method of four-party collaborative operation，the system was carried out in a specific maintenance area to carry out systematic maintenance of the end effector of the robotic arm.The endeffector fault handling plan，maintenance strategy，maintenance tools，maintenance process and verification method were put forward，and a set of virtual maintenance simulation platform was built.The typical operation actions of the endeffector were verified by maintenance simulation，and the maintenance of the end effector of the manipulator was tested and verified by building a simulated maintenance scene on the ground.The results show that the operability，accessibility，visibility and safety of the maintenance of the end effector of the manipulator all meet the requirements.It can provide design guidance for the followup space station robotic arm maintenance work.

Key words: , space manipulator, endeffector, maintenance system, testverification, collaborative operation

ZHU Chao, ZHANG Wenming, HU Chengwei, TANG Zixin, LIANG Changchun, KONG Xu, LI Delun, WANG Youyu, ZENG Lei, ZHANG Xinrui. Maintenance system design and verification for space station manipulator end-effector[J]. Chinese Space Science and Technology, 2023, 43(5): 79-86.

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URL: http://journal26.magtechjournal.com/kjkxjs/EN/10.16708/j.cnki.1000-758X.2023.0071

http://journal26.magtechjournal.com/kjkxjs/EN/Y2023/V43/I5/79

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Maintenance system design and verification for space station manipulator end-effector

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