a novel four-arm space robot for on-orbit servicing on large-scale spacecraft
- Paper number
IAC-14,A5,3-B3.6,10,x23886
- Author
Mr. Liangliang HAN, Institute of Aerospace System Engineering Shanghai, CASC, China
- Coauthor
Prof.Dr. CHEN MENG, Aerospace System Engineering Shanghai, China, China
- Coauthor
Dr. HU Bingshan, China
- Coauthor
Mr. TANG PING, China Aerospace Science and Technology Corporation (CASC), China
- Coauthor
Zhang Chongfeng, Shanghai Academy of Spaceflight Technology, China
- Year
2014
- Abstract
Constructing in-space infrastructure like space station, space fuel-station or space solar station will be a significant way to detect and make use of the resource in outer space. The apply of space robot will relieve astronauts of operation burdens and reduce the risk of extravehicular activity in the process of assembling, repair and maintenance of these large-scale spacecrafts. This paper proposed a novel four-arm space robot for on-orbit servicing on large-scale spacecrafts, which could climb on the surface of the spacecraft and do some dexterous operation. It’s a redundancy robot with four identical arms. Each arm is equipped with seriation end-effectors or dexterous humanoid hand to satisfy the needs for repair or grasping. Drawing on the movement pattern of the creatures with four limbs, the robot has multiple climbing strategies and gaits to achieve a large coverage of the spacecraft. With the help of the humanoid hand, the robot gains the operation ability similar to the astronauts. According to the task analysis and bionics, the configuration of the robot is established and the mathematical model is built. The practicability and advancement are verified with the simulation of climbing and operation.
- Abstract document
- Manuscript document
IAC-14,A5,3-B3.6,10,x23886.pdf (🔒 authorized access only).
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