Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, London, UK, July 3-5, 2019, Proceedings, Part II
Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, London, UK, July 3-5, 2019, Proceedings, Part II
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迈向自主机器人系统 - 第 20 届年会，TAROS 2019，英国伦敦，2019 年 7 月 3-5 日，会议记录，第二部分
DOI：
10.1007/978-3-030-25332-5_45
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Jackson L
中科院分区：
文献类型：
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作者：
Jackson L
机器人技术长期以来一直在太空中服务，而且仍然是一个活跃且不断增长的研究领域。安装在卫星上的机械手通过限制宇航员在任务执行过程中的干预需求，使更雄心勃勃的任务能够更安全、更及时地执行。缩小这些自由飞行的空间机器人将通过增加它们的多功能性来扩大它们的潜力，允许多个系统之间的任务共享，以及进一步降低任务成本和时间尺度。在评估缩小空间机器人的规模所涉及的实际挑战及其对整体性能的影响方面所做的研究有限。本文用系统级分析方法确定安装在自由飞行小型航天器上的机械手的最优尺寸。仿真结果显示了缩尺对机械手和整个系统效率的影响。
Robotic technologies have been long-serving in space, and are still an active and ever-growing field of research. Satellite mounted manipulators allow more ambitious tasks to be carried out in a safer and more timely manner, by limiting the need for astronaut intervention during task execution. Downsizing these free-flying space robots will expand their potential by increasing their versatility, allowing task sharing between multiple systems, as well as further lowering mission costs and timescales. Limited research has been done in assessing the practical challenges involved in downsizing a space robot and its consequences on overall performance. This paper presents a system level analysis into deciding the optimum dimensions for a manipulator mounted on a small free-flying spacecraft. Simulation results show the effect of downsizing on the efficiency of the manipulator and the overall system.