CAJ | 학술논문

介绍了国外载人航天中的航天飞机、国际空间站上的典型空间机械臂系统,概述了用于我国空间站建造和维护任务的空间站机械臂系统,详述了其中核心舱机械臂和实验舱机械臂的任务要求和基本方案,重点阐述了实验舱机械臂的关节、末端作用器、控制器以及遥操作子系统的方案、组成和主要功能,并对我国未来空间机械臂技术的发展提出了建议.
개소료국외재인항천중적항천비궤、국제공간참상적전형공간궤계비계통,개술료용우아국공간참건조화유호임무적공간참궤계비계통,상술료기중핵심창궤계비화실험창궤계비적임무요구화기본방안,중점천술료실험창궤계비적관절、말단작용기、공제기이급요조작자계통적방안、조성화주요공능,병대아국미래공간궤계비기술적발전제출료건의.
The typical space manipulators for the space shuttle and the International Space Station were summarized in this paper. The Chinese space station remote manipulator system for the on-or-bit construction and maintenance mission was introduced. The mission requirements and basic solu-tion for the core module manipulator and experimental module manipulator were introduced in detail. The technical proposal, composition and main features of the joint, the end effector, the controller and the teleoperation for experimental module manipulator were elaborated. The development pro-posal for our space manipulator was also made in this paper.