搭建线性导轨实验平台，模拟太空机器人操作的复杂运动与控制问题。
Development of a Linear Guide-Rail Testbed for Physically Emulating ISAM Operations
- 用6自由度机械臂+单向导轨系统模拟卫星在轨移动与操作
- 可验证太空运动、机器人操控及接触力学模型的准确性
- 为未来空间服务任务提供可重复测试的硬件平台
在轨服务、组装与制造（ISAM）是一系列新兴太空操作，能显著提升航天器的寿命、容量、机动性和可扩展性。串联式机器人臂在完成这些任务中至关重要，但安装于自由飞行卫星上的机械臂运动所引发的复杂扰动力与运动，带来了严峻的控制挑战，亟需深入研究。尽管已有大量动力学模型，但由于其运行环境为具有六自由度（6-DOF）的太空，实际实验验证极为困难。本文提出并开发了一种新的硬件在环（HIL）实验平台，用于模拟ISAM操作。该平台采用6-DOF UR3e机械臂安装于卫星本体上，卫星本体通过1-DOF导轨系统实现单向线性自由移动。该实验系统将用于探索和验证太空运动、串联机器人操控及接触力学相关模型。
原文摘要 · Abstract (English)
In-Space Servicing, Assembly, and Manufacturing (ISAM) is a set of emerging operations that provides several benefits to improve the longevity, capacity, mo- bility, and expandability of existing and future space assets. Serial robotic ma- nipulators are particularly vital in accomplishing ISAM operations, however, the complex perturbation forces and motions associated with movement of a robotic arm on a free-flying satellite presents a complex controls problem requiring addi- tional study. While many dynamical models are developed, experimentally test- ing and validating these models is challenging given that the models operate in space, where satellites have six-degrees-of-freedom (6-DOF). This paper attempts to resolve those challenges by presenting the design and development of a new hardware-in-the-loop (HIL) experimental testbed utilized to emulate ISAM. This emulation will be accomplished by means of a 6-DOF UR3e robotic arm attached to a satellite bus. This satellite bus is mounted to a 1-DOF guide-rail system, en- abling the satellite bus and robotic arm to move freely in one linear direction. This experimental ISAM emulation system will explore and validate models for space motion, serial robot manipulation, and contact mechanics.
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