Downsizing an orbital space robot: A dynamic system based evaluation
Downsizing an orbital space robot: A dynamic system based evaluation
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DOI：
10.1016/j.asr.2020.03.004
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发表时间：
2020-05-15
影响因子：
2.6
通讯作者：
Hadfield, Simon
中科院分区：
文献类型：
--
作者：
Jackson, Lucy;Saaj, Chakravarthini M.;Hadfield, Simon
小型空间机器人有潜力在更短的时间内以更低的成本促进基础设施在轨组装，从而彻底改变太空探索。如果这样的系统还能够执行在轨服务任务，符合当前限制空间碎片和延长已在轨卫星寿命的努力，那么它们的商业吸引力将进一步提高。虽然能够进行在轨操作的技术的成功演示数量有限，但这些系统仍然庞大且定制。最近小型卫星技术的激增正在改变太空经济，在不久的将来，缩小太空机器人的尺寸可能会成为一个可行的选择，并带来许多好处。这种行业范围内的转变意味着一些用于小型太空机器人的技术，例如电源和通信子系统，现在已经存在。然而，在小型太空机器人能够执行有用的任务之前，仍然需要克服动态和控制问题。本文首先概述了这些问题，然后分析缩小系统规模对其运行能力的影响。因此，提出最小的可控系统，以便利用当前技术实现小型空间机器人的优势。这里讨论了基础航天器和操纵器的尺寸。所展示的设计由安装在 12U 形状系数卫星上的 3 连杆、6 自由度机器人操纵器组成。该 12U 空间机器人的可行性在仿真中进行了评估，此处提供的深入结果支持了小型空间机器人是在轨操作的可行解决方案的假设。 (C) 2020 年 COSPAR。由爱思唯尔有限公司出版
Small space robots have the potential to revolutionise space exploration by facilitating the on-orbit assembly of infrastructure, in shorter time scales, at reduced costs. Their commercial appeal will be further improved if such a system is also capable of performing on-orbit servicing missions, in line with the current drive to limit space debris and prolong the lifetime of satellites already in orbit. Whilst there have been a limited number of successful demonstrations of technologies capable of these on-orbit operations, the systems remain large and bespoke. The recent surge in small satellite technologies is changing the economics of space and in the near future, downsizing a space robot might become be a viable option with a host of benefits. This industry wide shift means some of the technologies for use with a downsized space robot, such as power and communication subsystems, now exist. However, there are still dynamic and control issues that need to be overcome before a downsized space robot can be capable of undertaking useful missions. This paper first outlines these issues, before analyzing the effect of downsizing a system on its operational capability. Therefore presenting the smallest controllable system such that the benefits of a small space robot can be achieved with current technologies. The sizing of the base spacecraft and manipulator are addressed here. The design presented consists of a 3 link, 6 degrees of freedom robotic manipulator mounted on a 12U form factor satellite. The feasibility of this 12U space robot was evaluated in simulation and the in-depth results presented here support the hypothesis that a small space robot is a viable solution for in-orbit operations. (C) 2020 COSPAR. Published by Elsevier Ltd.