Research progress and technical challenges of space robot

被引：0
|
作者：
Meng G. [1 ,3 ]
Han L. [1 ,2 ]
Zhang C. [1 ,2 ]
机构：
[1] Space Structure and Mechanism Technology Laboratory, China Aerospace Science and Technology Group Co. Ltd, Shanghai
[2] Aerospace System Engineering Shanghai, Shanghai
[3] State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2021年 / 42卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Manned space flight; Orbital space robots; Planetary robots; Space robots; Space station;
D O I：
10.7527/S1000-6893.2020.23963
中图分类号：
学科分类号：
摘要：
Space robots as one of the enabling means to realize automatic and intelligent on-orbit operations, play a critical role in both manned and unmanned space scientific explorations. The engineering application status of several types of orbital space robots is firstly reviewed, including the International Space Station extravehicular and intravehicular robots, the Chinese Space Station robots, and some free flying space robots. First, the application status of two kinds of planetary robots successfully applied is also reviewed, including the lunar robots and the Mars robots. Secondl, in view of the increasingly complex task requirements for space robots, the technical challenges faced by space robots in mechanism configuration, actuator joints, end effectors, perception and cognition, mobility, dynamics and control are discussed. The exploration of some novel mechanism configurations for space robots in multi-arm, super redundancy, flexibility, reconfiguration and bionic design is then reviewed, and the research progress of active and passive compliant joints for space robots, as well as progress of space robot end-effectors in specialized tools and universal multi-finger dexterous hands is introduced. In addition, the research progress of new mobile mechanism configuration and high autonomous navigation for planetary robots multi-sensor integration and fusion, force and tactile perception of space robots, and multi-arm coordination control, compliance control, dynamic control for capturing on floating bases of space robots is reviewed. Finally, the future application of space robots in the capture and removal of orbital targets, in-orbit service and maintenance for high-value spacecraft, on-orbit assembly of large space structures, and planetary scientific explorations are prospected. © 2021, Beihang University Aerospace Knowledge Press. All right reserved.
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