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Modeling Method and Application of Rational Finite Element Based on Absolute Nodal Coordinate Formulation

Acta Mechanica Solida Sinica 2018年第2期31卷 207-228页

作者： Chao Ma Cheng Wei Jing Sun Bin Liu Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Department of Aerospace Engineering Harbin Institute of Technology

In multibody system dynamics, the absolute nodal coordinate formulation （ANCF） uses power functions as interpolating polynomials to describe the displacement field. It can get accurate results for flexible bodies that undergo large deformation and large rotation. However, the power functions are irrational representation which cannot describe the complex shapes precisely, especially for circular and conic sections. Different from the ANCF representation, the rational absolute nodal coordinate formulation （RANCF） utilizes rational basis functions to describe geometric shapes, which allows the accurate representation of complicated displacement and deformation in dynamics modeling. In this paper, the relationships between the rational surface and volume and the RANCF finite element are provided, and the generalized transformation matrices are established correspondingly. Using these transformation matrices, a new four-node three-dimensional RANCF plate element and a new eight-node three-dimensional RANCF solid element are proposed based on the RANCF. Numerical examples are given to demonstrate the applicability of the proposed elements. It is shown that the proposed elements can depict the geometric characteristics and structure configurations precisely, and lead to better convergence in comparison with the ANCF finite elements for the dynamic analysis of flexible bodies.

关键词： Multibody system dynamics Absolute nodal coordinate formulation Flexible deformation Spline representation Rational finite element

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A review of structures,verification,and calibration technologies of space robotic systems for on-orbit servicing

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Science China(Technological Sciences) 2021年第3期64卷 462-480页

作者： DING XiLun WANG YeCong WANG YaoBing XU Kun Robotics Institute Beihang UniversityBeijing 100191China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and ApplicationsBeijing 100094China

Recently,with the rapid development of aerospace technology,an increasing number of spacecraft is being launched into ***,the demands for on-orbit servicing(OOS)missions are rapidly *** robotics is one of the most promising approaches for various OOS missions;thus,research on space robotics technologies for OOS has attracted increased attention from space agencies and universities *** this paper,we review the structures,ground verification,and onorbit kinematics calibration technologies of space robotic systems for ***,we systematically summarize the development of space robotic systems and OOS programs based on space ***,according to the structures and applications,these systems are divided into three categories:large space manipulators,humanoid space robots,and small space *** to the capture mechanisms adopted,the end-effectors are systematically ***,the ground verification facilities used to simulate a microgravity environment are summarized and ***,the on-orbit kinematics calibration technologies are discussed and analyzed compared with the kinematics calibration technologies of industrial manipulators with regard to four ***,the development trends of the structures,verification,and calibration technologies are discussed to extend this review work.

关键词： space robotic system on-orbit servicing large space manipulator humanoid space robot verification kinematics calibration

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Research on a Visual Servo Method of a Manipulator Based on Velocity Feedforward

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space(Science & technology) 2021年第1期2021卷 119-126页

作者： Rui Wang Changchun Liang Dong Pan Xiaodong Zhang Pengfei Xin Xiaodong Du Beijing Institute of Spacecraft System Engineering Beijing 100094China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing 100094China

In this paper,a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is *** predicted value is used as the velocity feedforward,and the position-based visual servo method is used to plan the velocity of the end of the *** overcomes the influence of end coordinate system motion on target prediction in a discrete system and introduces an integral control method to compensate for the prediction velocity,eliminating the end tracking error caused by target velocity prediction *** effectiveness of this method is verified by simulation and experiment.

关键词： Visual Velocity prediction

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Lightweight structure of a phase-change thermal controller based on lattice cells manufactured by SLM

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Chinese Journal of Aeronautics 2019年第7期32卷 1727-1732页

作者： Hao ZHOU Xiaoyu ZHANG Huizhong ZENG Huning YANGa Hongshuai LEI Xiao LI Yaobing WANG Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringCASTBeijing100094China Institute of Advanced Structure Technology Beijing Institute of TechnologyBeijing100081China

Thermal controllers equipped with phase-change materials are widely used for maintaining the moderate temperatures of various electric devices used in spacecraft. Yet, the structures of amounts of thermal controllers add up to such a large value that restricts the employment of scientific devices due to the limit of rocket capacity. A lightweight structure of phase-change thermal controllers has been one of the main focuses of spacecraft design engineering. In this work, we design a lightweight phase-change thermal controller structure based on lattice cells. The structure is manufactured entirely with AlSi10 Mg by direct metal laser melting. The dimensions of the structure are 230 mm × 170 mm × 15 mm, and the mass is 190 g, which is 60% lighter than most traditional structures(500–600 g) with the same dimensions. The 3 D-printed structure can reduce the risk of leakage at soldering manufacture by a welding process. Whether the strength of the designed structure is sufficient is determined through mechanical analysis and experiments. Thermal test results show that the thermal capacity of the lattice-based thermal controller is increased by50% compared to that of traditional controllers with the same volume.

关键词： Lattice structure Lightweight Selective laser melting(SLM) spacecraft Thermal controller

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The Experimental Adaptability Design and Verification of the space Station Manipulator's Joint 3

The Experimental Adaptability Design and Verification of the...

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3rd International Symposium on robotics and intelligent Manufacturing technology, ISRIMT 2021

作者： Li, Delun Zhang, Yun Wang, Kang Liu, Xin Zhang, Li Fan, Ning Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9781665437189

The manipulator launched with the TianHe capsule is currently the most complex, intelligent, and integrated space intelligence system in China. It indicates that China has become the world's third country after Canada and Japan who has the ability to independently develop the space Station Manipulator. When designing the manipulator, we have to concern the space environment of vibration, vacuum, thermal and electromagnetic radiation in aerospace, and the joints must adapt to the space environment. By adopting a series of methods of multi-point compression, solid silicate bonded MoS2 known as PM5, a combining of active thermal control and passive thermal control, the problem of environmental adaptability is solved. The joint successfully passed the verification of mechanical test, thermal cycle test, thermal vacuum test and life test. The environmental adaptability design and verification of the joint can be used as a reference for joints and end effectors of space manipulator. © 2021 IEEE.

关键词： Manipulators

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Design and Verification of Mechatronics Angle Limit Device for Joint of space Station Manipulator 3

Design and Verification of Mechatronics Angle Limit Device f...

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3rd International Symposium on robotics and intelligent Manufacturing technology, ISRIMT 2021

作者： Zhang, Yun Li, Delun Wang, Kang Liu, Xin Chen, Ming Shi, Chunling Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9781665437189

The Manipulator of the Tian Gong space Station has 7 joints. In order to complete the function and task of the manipulator, the rotation angle of each joint is greater than ±270°, which is much larger than the 360° motion range of general robots. In order to meet the requirements of joint rotation angle limit, a mechatronics angle limit device is designed, which has the functions of electrical limit and mechanical limit, and can meet the requirements of joint ±270° mechanical and electrical limit. The device has passed the functional experiment and life experiment, and is in good condition in on-orbit application, which has reference significance for realizing large angle limit of space robot joints. © 2021 IEEE.

关键词： Manipulators

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Research of Visual Servo Control System for space intelligent Robot

Research of Visual Servo Control System for Space Intelligen...

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2015 IEEE Advanced Information technology,Electronic and Automation Control Conference(IAEAC 2015)

作者： Liang Changchun Zhang Xiaodong Pan Dong Liu Xin Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering CAST

ISBN: (纸本)9781479919819

space intelligent robotic systems are expected to play an increasingly important role in the *** robotic onorbital service,whose key is the tracking and capturing technology,becomes research hot in recent *** this paper,the authors propose a vision servo control system for target *** manipulator will be an intelligent robotic system with large-scale movement,functional agility,and autonomous ability,and it can be operated by astronauts in the space station or be controlled by the ground operator in the remote operation *** realize the autonomous movement and capture mission of SRM,a kind of autonomous programming strategy based on multi-camera vision fusion is designed and the selection principle of object visual position and orientation measurement information is defined for the better *** control system hierarchy is designed and reliability is considering to guarantee the abilities of control *** last,a ground experiment system is set up based on the concept of robotic control *** that,the autonomous target capturing experiments are *** experiment results validate the proposed algorithm,and demonstrates that the control system can fulfill the needs of function,real-time and reliability.

关键词： Control system On-orbital service space robot Vision servo

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Research of integration simulation system of space dual-arm robot

Research of integration simulation system of space dual-arm ...

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IEEE International Conference on robotics and Biomimetics, IEEE-ROBIO 2015

作者： Xiaodong, Zhang Yafang, Liu Yaobing, Wang Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9781467396745

A set of integrated simulation system of space dual-arm robot is developed in the paper. Based on modular design concept, the system is composed of the communication module, task scheduling management module, path planning module, dynamic control module, 3D geometric model and collision detection module and the system uses C programming language and Visual Studio 2010 to realize the key algorithm while the entity model and the simulation scenarios are created by OSG (Open Scene Graph). Compared with other simulation methods, this method is stronger in visualization and post-processing, which can also realize closed-loop control of the key algorithm. Finally, the application simulations are implemented to verify the algorithms of coordinated space dual-arm robot by using this system. The results show the effectiveness of the system and verify the feasibility of mission planning. © 2015 IEEE.

关键词： Motion planning

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Development of a Landing Leg with Active Buffering and Anchoring Functions Applied to the Small Body Landing Mechanism 17

Development of a Landing Leg with Active Buffering and Ancho...

引用

17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhao, Zhijun Xiao, Tao Tang, Zixin Gao, Xiangyu Liu, Xin Zhang, Wenming Liu, Bin Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing100092 China

ISBN: (纸本)9781728164151

It is microgravity on the small body, and its medium is unknown and diverse. The lander is easy to rebound or tip over when landing and easy to drift away after landing. Thus, the lander should have the functions such as cushioning, terrain adapting and anchoring. At present, the moon and Mars landers mostly use honeycomb aluminum to achieve passive buffering. Honeycomb aluminum has good buffering effect under heavy load. This paper proposes an electromagnetic damping and anchoring leg for the small body lander. The leg integrates the folding mechanism and the buffering mechanism as a part and can sense the landing force. This force signal is used to realize the buffering function of the landing leg. An ultrasonic drill is attached at the end of the landing leg to realize anchoring after landing. Landing and anchoring performances of the landing leg are tested. © 2020 IEEE.

关键词： Landing

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Highly stable and wide-range flexible pressure sensors with a gradient modulus and selective foaming layer

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Chemical Engineering Journal 2025年 515卷

作者： Meng Wang Wendong Li Yadong Lv Guangxian Li Zhijun Zhao Yaobing Wang Qinghua Zhou Wei Pu Miqiu Kong School of Aeronautics and Astronautics Key Laboratory of Advanced Spatial Mechanism and Intelligent Spacecraft Ministry of Education National Key Laboratory of Advanced Polymer Materials Sichuan University Chengdu 610065 China College of Polymer Science and Engineering National Key Laboratory of Advanced Polymer Materials Sichuan University Chengdu 610065 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing 100094 China

The service life and stability of flexible pressure sensors vary with the interfacial toughness of these multilayered structures, which are principally fabricated by adhesive bonding, hot melting, and interconnection. However, balancing the trade-off between interface toughness and sensing performance under complex stresses remains challenging. To address this issue, a foam sandwich structure with gradient modulus is constructed by integrating a thermoplastic polyurethane (TPU)/carbon nanotube electrode with a selectively foamed TPU/ionic liquid dielectric. The synthesis is fundamentally inspired by the molecular chain entanglements and hydrogen bonds formed at the electrode/dielectric interface owing to solvent diffusion due to secondary solubilization and differential foaming temperatures. The synthesized sensing structure exhibits ultra-high toughness (3000 J/m 2 ) and dynamic impact resistance (1 J); meanwhile, the sensor shows an ultra-wide sensing range (0.02–2000 kPa), high sensitivity (1.7 nF/kPa), and excellent service stability up to 50,000 cycles under compressive stress (100 kPa), shear stress (30 kPa), bending stress (bending radius of 1.6 mm), and complex stress of 120 kPa (compression stress of 116 kPa and shear stress of 31 kPa). Additionally, on integration into robot grippers, the sensor provides accurate feedback on multi-stage object gripping and can resist shear stress while gripping high-weight objects. This study provides a new strategy for fabricating flexible pressure sensors that can be effectively used under complex stresses.

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