空间站机械臂人机系统设计与验证
Design and Verification of Human-robot System for Space Station Manipulator
朱超 1薛书骐 2胡成威 1王春慧 2吴志红 1李德伦 1谭丽芬2
作者信息
- 1. 北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室,北京 100094
- 2. 中国航天员科研与训练中心人因工程全国重点实验室,北京 100094
- 折叠
摘要
在充分调研国际空间站机械臂人机系统设计的基础上,结合中国空间站机械臂人机协同作业需求,建立了空间站机械臂"管理-设计-验证"全周期人机设计体系,通过人机项目规划、人机功能分配等管理要素,针对性地开展了空间机械臂人机系统详细设计,最后,从仿真分析、地面验证、在轨验证三大方面对人机系统进行了全要素全流程的验证,结果表明空间站机械臂人机系统设计合理,可应用于后续航天员出舱活动,保障航天员出舱活动安全、高效.研究结果将为空间机械臂人机系统设计与验证提供体系借鉴和工程指导.
Abstract
On the basis of a thorough investigation of the human-robot system design of the manipulators on the International Space Station and combining the human-robot collaborative operation requirements of the China Space Station,a full-cycle human-robot design system of"management-design-verification"is established.The detailed design of the human-robot system of the space manipulators is carried out through project planning,function allocation and other management elements.The human-robot system has been verified with all elements and processes from three aspects:simulation analysis,ground verification and in-orbit verification.The results show that the human-robot system of the manipulators of the space station is reasonably designed and can be applied to the subsequent extravehicular activities of astronauts to ensure the safety and efficiency.The results will provide system reference and engineering guidance for the design and verification of human-robot system of space manipulator.
关键词
空间站机械臂/人机系统/协同作业/地面验证/出舱任务Key words
Space station manipulator/Human-robot system/Cooperative work/Ground verification/Extravehicular activities引用本文复制引用
基金项目
中国航天员科研与训练中心人因工程全国重点实验室基金(6142222210302)
出版年
2024
NETL
NSTL
万方数据