三款太空机器人联合复盘，提炼共性经验助力未来研发
Free-Flying Crew Cooperative Robots on the ISS: A Joint Review of Astrobee, CIMON, and Int-Ball Operations
- 对比分析美国Astrobee、德国CIMON、日本Int-Ball的设计与运行
- 总结跨平台共性挑战与解决方案，覆盖从设计到在轨操作全周期
- 适合航天机器人研发者与空间站运维团队参考
舱内自由飞行机器人有望在载人航天任务中协同宇航员完成各类工作。以美国宇航局的Astrobee、德国宇航中心的CIMON和日本宇宙航空研究开发机构的Int-Ball为代表，这些机器人已部署于国际空间站。本文首次对这三款机器人的实际运行经验进行联合分析，由其研发与运维团队共同撰写。尽管起源与设计理念各异，但它们在开发与运行过程中面临诸多相似挑战。论文详细综述了各平台的目标、设计特点与在轨操作情况，并系统总结了全生命周期中的共性经验教训。这些成果可为未来空间机器人设计提供实用建议。
原文摘要 · Abstract (English)
Intra-vehicular free-flying robots are anticipated to support various work in human spaceflight while working side-by-side with astronauts. Such example of robots includes NASA's Astrobee, DLR's CIMON, and JAXA's Int-Ball, which are deployed on the International Space Station. This paper presents the first joint analyses of these robot's shared experiences, co-authored by their development and operation team members. Despite the different origins and design philosophies, the development and operations of these platforms encountered various convergences. Hence, this paper presents a detailed overview of these robots, presenting their objectives, design, and onboard operations. Hence, joint lessons learned across the lifecycle are presented, from design to on-orbit operations. These lessons learned are anticipated to serve for future development and research as design recommendations.
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