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首页> 外文期刊>Mechanical systems and signal processing >Bio-inspired anti-impact manipulator for capturing non-cooperative spacecraft: theory and experiment
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Bio-inspired anti-impact manipulator for capturing non-cooperative spacecraft: theory and experiment

机译：生物启发防撞机械手，用于捕获非合作宇宙飞船：理论与实验

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摘要

On-orbit capture of non-cooperative targets, i.e., malfunctioning satellites and space debris, is nowadays an urgent task. It is also a challenging task since the states of the non-cooperative targets are essentially unknown and have to be estimated by real-time visual detection. In the final approach stage, inevitable time-delay and measurement errors of the visual detection may cause a sudden impact between the servicing spacecraft and target, which can make the spacecraft unstable or even tumbling. Therefore, the compliant capture of a non-cooperative target is the key issue for the modern on-orbit servicing missions. The 'robotic arm plus gripper' type manipulator is normally used to capture space targets. However, sudden impact induced from the target cannot be efficiently suppressed in this conventional manipulator. To solve this limitation, inspired by animal limb structures, a novel bio-inspired anti-impact manipulator (BAM), consisting of a capture element, a bio-inspired structure and a buffer element, is proposed for the first time. The dynamical responses and isolation performance of the presently proposed BAM system are studied both theoretically and experimentally. In theoretical analysis, the mathematical model of the BAM system, described by a set of non-smooth ordinary differential equations, is established by the Lagrangian mechanics. The effects of system parameters are thoroughly investigated to verify the performance of the anti-impact system in various working conditions. In addition, the corresponding ground experiment is carried out to compare with the theoretical analysis. An interesting stick-slip phenomenon induced by the free-play nonlinear friction is observed in both theoretical and experimental studies. Finally, it is shown that the experimental result agrees well with the theoretical one, which verifies efficiency of the present BAM system.
机译：如今，非合作目标的轨道捕获，即发生故障卫星和空间碎片。由于非合作目标的状态基本上是未知的，因此这也是一个具有挑战性的任务，并且必须通过实时视觉检测估算。在最终的方法阶段，视觉检测的不可避免的时间延迟和测量误差可能会导致维修航天器和目标之间的突然冲击，这可以使航天器不稳定甚至翻滚。因此，非合作目标的兼容捕获是现代轨道服务任务的关键问题。 “机器人臂加夹钳”型机械手通常用于捕获空间目标。然而，在该传统的操纵器中，不能有效地抑制目标突然的冲击。为了解决这些限制，首次提出由动物肢体结构的新型生物启发抗冲击机械手（BAM），由捕获元件，生物启发结构和缓冲元件组成。理论上和实验研究了当前所提出的BAM系统的动态响应和隔离性能。在理论分析中，由拉格朗日力学建立了一组非平滑常微分方程的BAM系统的数学模型。彻底调查了系统参数的影响，以验证在各种工作条件下的抗冲击系统的性能。此外，对相应的地面实验进行了与理论分析相比。在理论和实验研究中，观察到通过自由游戏非线性摩擦引起的有趣的防滑现象。最后，表明实验结果与理论一致吻合良好，这验证了当前BAM系统的效率。

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