打造可扩展的太空卫星自动化测试平台，实现无人目标捕获与协同作业。
A Scalable Tabletop Satellite Automation Testbed:Design And Experiments
- 基于张拉整体结构设计轻量化模块，支持自由飞行与协同搭建。
- 四摄像头实现目标位姿估计，外接气源供能用于初步测试。
- 适合从事空间机器人、在轨服务研究的团队参考使用。
本文详细介绍了用于捕获非合作空间物体（RSOs）的近地交会与近距离操作（RPO）服务模块TPODS的系统设计与部件选型。该模块不仅可作为自由飞行机械臂，处理合作与非合作的RSOs，还具备模块间协同能力，可用于构建更复杂的卫星维护结构。原型模块采用张拉整体原理设计，显著降低结构质量；框架由轻质聚碳酸酯与铝或碳纤维构成，内部电子与气动组件壳体采用ABS材料3D打印。四个OpenMV H7 R1摄像头用于估算空间物体（包括其他TPODS模块）的位姿。初始测试阶段使用外部压缩空气供能，未来可替换为模块自带的氮气压力罐实现全自主推进。中央控制单元采用Teensy 4.1单板计算机，接收四路摄像头数据，并根据控制逻辑指令喷气推进器动作。
原文摘要 · Abstract (English)
This paper presents a detailed system design and component selection for the Transforming Proximity Operations and Docking Service (TPODS) module, designed to gain custody of uncontrolled resident space objects (RSOs) via rendezvous and proximity operation (RPO). In addition to serving as a free-flying robotic manipulator to work with cooperative and uncooperative RSOs, the TPODS modules are engineered to have the ability to cooperate with one another to build scaffolding for more complex satellite servicing activities. The structural design of the prototype module is inspired by Tensegrity principles, minimizing the structural mass of the modules frame. The prototype TPODS module is fabricated using lightweight polycarbonate with an aluminum or carbon fiber frame. The inner shell that houses various electronic and pneumatic components is 3-D printed using ABS material. Four OpenMV H7 R1 cameras are used for the pose estimation of resident space objects (RSOs), including other TPODS modules. Compressed air supplied by an external source is used for the initial testing and can be replaced by module-mounted nitrogen pressure vessels for full on-board propulsion later. A Teensy 4.1 single-board computer is used as a central command unit that receives data from the four OpenMV cameras, and commands its thrusters based on the control logic.
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