According to the tool spacecraft system oriented to on-orbit control, docking mechanisms are installed on the upper portion and the lower portion of a spacecraft base of the system, a plurality of rigid mechanical arms and a plurality of flexible mechanical arms are installed on the spacecraft base, and end effectors are installed at the tail ends of the flexible mechanical arms and the tail ends of the rigid mechanical arms. The technical problems that a space robot only has a rigid mechanical arm and does not have a flexible mechanical arm, the space robot cannot adapt to narrow space and complex structure operation, the number of the mechanical arms is small, only one or two mechanical arms are arranged, the executable task is single, the function is limited, and a tail end operation mechanism carried by a traditional space robot is single and cannot give consideration to multiple tasks are solved. The tool spacecraft system is provided with four rigid mechanical arms with 7 degrees of freedom and two flexible arms with 12 degrees of freedom, and the six mechanical arms are arranged, so that the diversity of operable tasks of the spacecraft system is greatly improved, the function of the spacecraft system is expanded, and the reliability of executing the tasks of the spacecraft system is improved.
本发明提出一种面向在轨操控的工具航天器系统,该系统的航天器基座上下安装有对接机构,航天器基座上安装有多个刚性机械臂和多个柔性机械臂,多个柔性机械臂和多个刚性机械臂的末端安装有末端执行器。解决了空间机器人只有刚性机械臂没有柔性机械臂,无法适应狭小空间和复杂结构作业,机械臂数目较少,仅有一个或者两个机械臂,可执行任务单一,功能有限,以及传统空间机器人携带的末端操作机构单一,无法兼顾多个任务的技术问题。本发明的工具航天器系统有4个7自由度的刚性机械臂及2个12自由度的柔性臂,共6条机械臂,大大提高了航天器系统可操作任务的多样性,扩展了航天器系统的功能,并且增加了其执行任务的可靠性。
Tool spacecraft system for on-orbit control
一种面向在轨操控的工具航天器系统
2022-03-11
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS |
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