Determination Method of Overall Technology Index for Space Manipulator

doi:10.3780/j.issn.1000-758X.2013.01.008

›› 2013, Vol. 33 ›› Issue (1): 53-60.doi: 10.3780/j.issn.1000-758X.2013.01.008

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Determination Method of Overall Technology Index for Space Manipulator

Xu Wenfu^1,2,Du Xiaodong^1,3,Wang Chengjiang^1,2,Liang Bin^1,3

（1 Shenzhen Graduate School of Harbin Institute of Technology,Shenzhen 518055）（2 Shenzhen Key Lab of Digital Manufacturing Technology,Shenzhen 518055）（3 Shenzhen Aerospace Dongfanghong Development Ltd.,Shenzhen 518057）

Received:2012-04-11 Revised:2012-06-09 Published:2013-02-25 Online:2013-02-25

Abstract

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.

Key words: Space manipulator, On-orbit servicing, Dynamic simulation, Spacecraft

XU Wen-Fu, DU Xiao-Dong, WANG Cheng-Jiang, LIANG Bin. Determination Method of Overall Technology Index for Space Manipulator[J]. , 2013, 33(1): 53-60.

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Determination Method of Overall Technology Index for Space Manipulator

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