让多臂机器人自动完成国际空间站物资搬运，减少宇航员负担。
Towards the Automation in the Space Station: Feasibility Study and Ground Tests of a Multi-Limbed Intra-Vehicular Robot
- 设计多臂舱内机器人，通过三维路径规划实现自主移动与操作。
- 原型在二维模拟微重力环境中成功完成任务，验证了低干预可行性。
- 适合关注太空自动化、机器人运维的科研与工程人员参考。
本文开展了一项可行性研究，结合仿真与原型测试，探讨多臂舱内机器人（MLIVR）在国际空间站（ISS）上自主执行物流任务的潜力。宇航员需耗费大量时间进行物资准备、收尾及运输，影响关键任务时长。本研究聚焦机器人运输能力，模拟其在三维空间中的运动规划，并在二维平台原型上测试实际运动执行，以模拟微重力环境。结果表明，该系统可在极少人工干预下完成任务，为提升空间站运行效率提供了可行方案。
原文摘要 · Abstract (English)
This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to assist astronauts with logistical tasks on the International Space Station (ISS). Astronauts spend significant time on tasks such as preparation, close-out, and the collection and transportation of goods, reducing the time available for critical mission activities. Our study explores the potential for a mobile manipulator to support these operations, emphasizing the need for autonomous functionality to minimize crew and ground operator effort while enabling real-time task execution. We focused on the robot's transportation capabilities, simulating its motion planning in 3D space. The actual motion execution was tested with a prototype on a 2D table to mimic a microgravity environment. The results demonstrate the feasibility of performing these tasks with minimal human intervention, offering a promising solution to enhance operational efficiency on the ISS.
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