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检索条件"机构=Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications"

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Post-capture angular momentum management of space robot with controllable damping joints 2

Post-capture angular momentum management of space robot with...

引用

2nd IEEE International Conference on Automation, Electronics and Electrical Engineering, AUTEEE 2019

作者： Jia, Chen Xia, Yongjian Chu, Ming Zhang, Xiaodong Space Robot Laboratory Automation School Beijing University of Posts and Telecommunications Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (数字)9781728150307

ISBN: (纸本)9781728150291

Aiming at the problems of combination instability and momentum wheel overrun caused by angular momentum transfer after capturing the target in orbit, a method of combination angular momentum management based on controllable electromagnetic damper at joint is proposed. Firstly, based on the Kane method, the combination dynamics equations of space robot base, manipulators with controllable damping joints and target spacecraft are established. Then the structural model of the electromagnetic damper is modeled and the output characteristics and parameters of the damper are studied by analytical calculation. Finally, the simulation of ADAMS verifies the effectiveness of this method in reducing the spin-axis angular momentum of the space combination. © 2019 IEEE.

关键词： Angular momentum

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Trajectory Planning Simulation of 3-DoF Parallel Wrist Mechanisms Based on SimMechanics 9

Trajectory Planning Simulation of 3-DoF Parallel Wrist Mecha...

引用

9th IEEE International Conference on Cyber technology in Automation, Control and intelligent systems, CYBER 2019

作者： Yang, Chen Xin, Liu Shimin, Wei Ying, Zhang Qineng, Huang School of Automation Beijing University of Posts and Telecommunications Beijing100876 China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing100094 China

ISBN: (纸本)9781728107691

In this paper, the trajectory planning problem of a 3-DoF parallel wrist mechanism based on SimMechanics is proposed, which is a symmetric spherical 3-RRR parallel mechanism. The formulation of the inverse kinematics for the mechanism is firstly established by D-H matrix method, and the analytical solution is obtained. Then, the trajectory planning analysis of the mechanism is performed. Finally, the mechanism model is constructed based on the SimMechanics module of Matlab/Simulink, and the trajectory planning simulation of the mechanism is carried out. The simulation results agree well with the theoretical results, which indicate that the proposed method is feasible and convenient for the trajectory simulation of parallel mechanisms. © 2019 IEEE.

关键词： Inverse kinematics

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Figure-ground image segmentation via semantic information

Figure-ground image segmentation via semantic information

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Yuan, Ding Qiang, Jingjing Li, Jianfei Zhang, Hong Luo, Xiaoyan school of Astronautics Beihang University Beijing China Institute of Shanghai Academy of Space Flight Technology China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Institute of Spacecraft System Engineering CAST China

ISBN: (纸本)9781728137261

—Image segmentation is a technique to segment the image into particular regions which are consistent in some specific characteristics. It is still a non-trivial task to segment the foreground from the background completely, as these regions are seldom uniform in color or texture which are defined as commonly-used low-level features adopted in the traditional techniques. In this work we present a new segmentation framework by employing the semantic information, which is classified as the high-level visual features and holds important clue to indicate the foreground from the background. Firstly, the image is segmented hierarchically by using the semantic edge constraint, and the result is represented as an Ultrametric Contour Map (UCM). Then the UCM is employed in the segmentation energy function as the data term and smoothness term. Finally, the optimal segmentation labels are obtained via the Graph-cut. Experiments achieve good performance testing on the MSRC 21 dataset. © 2018 IEEE

关键词： Textures

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Hole-Peg Assembly Strategy Based on Deep Reinforcement Learning 5th

Hole-Peg Assembly Strategy Based on Deep Reinforcement Learn...

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5th International Conference on Cognitive systems and Signal Processing, ICCSIP 2020

作者： Zhang, Xiaodong Ding, Pengchao Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST Beijing100086 China Institute of Technology Harbin Heilongjiang150001 China

ISBN: (纸本)9789811623356

Hole-peg assembly using robot is widely used to validate the abilities of autonomous assembly task. Currently, the autonomous assembly is mainly depended on the high precision of position, force measurement and the compliant control method. The assembly process is complicated and the ability in unknown situations is relatively low. In this paper, a kind of assembly strategy based on deep reinforcement learning is proposed using the TD3 reinforcement learning algorithm based on DDPG and an adaptive annealing guide is added into the exploration process which greatly accelerates the convergence rate of deep reinforcement learning. The assembly task can be finished by the intelligent agent based on the measurement information of force-moment and the pose. In this paper, the training and verification of assembly verification is realized on the V-rep simulation platform and the UR5 manipulator. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Reinforcement learning

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Combined active and passive adaptive variable admittance compliant control for space robotic manipulators

Combined active and passive adaptive variable admittance com...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Gao, Hang Zhang, Xiaodong Ma, Chao Zhou, Cheng University of Science and Technology Beijing School of Mechanical Engineering Beijing100083 China Beijing Institute of Spacecraft System Engineering Cast Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application China

ISBN: (纸本)9798350325706

This paper develops a combined active and passive adaptive variable admittance compliant control algorithm for space robotic manipulators. In fact, the assembly task for space robots requires compliance and precision while ensuring avoidance of any occurrences of rigid collision throughout the process. Therefore, we design a new combined active and passive variable admittance control structure combined with the following three parts to meet these acquirements. Firstly, we develop an active variable admittance algorithm to facilitate the space robot rapid movement, enabling it to achieve higher speeds while maintaining compliance. Then, to mitigate the occurrence of unforeseen rigid collisions during the robot motion, we devise a passive variable admittance control algorithm, which aims to minimize the impact of collision events and ensure the robot safe operation. Furthermore, by employing the Lyapunov theory, a new active adaptive variable admittance control algorithm is presented for robot constant force output. Consequently, through contrast experiments, we demonstrate the effectiveness and enhanced performance of the proposed algorithm. © 2023 IEEE.

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Design and Validation of Maintenance System for space Manipulator Grapple Fixture 14

Design and Validation of Maintenance System for Space Manipu...

引用

14th International Conference on Reliability, Maintainability and Safety, ICRMS 2023

作者： Zeng, Lei Gao, Ben Zhu, Chao Hu, Chengwei Xiong, Minghua Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing100094 China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300458 China

ISBN: (纸本)9798350329988

The space manipulator plays an integral role in the assembly and construction of the China space station. The grapple fixture is positioned at designated locations on the space station as the foundation for the space manipulator. It is utilized in conjunction with the space manipulator to capture target objects and complete crawling tasks. The performance of the space manipulator is directly impacted by the grapple fixture, and a failure of the grapple fixture can even jeopardize the space station mission. This paper analyzed the maintenance requirements of the grapple fixture, proposed a maintenance system for it, and executed replacement tasks with the assistance of maintenance tools and astronauts in orbit. The feasibility of this approach is verified through ground testing and simulation analysis. The results will serve as a valuable reference and engineering guidance for future space manipulator maintenance. © 2023 IEEE.

关键词： Fixtures (tooling)

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Reliability Design of Manipulator Joint for China space Station 2

Reliability Design of Manipulator Joint for China Space Stat...

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2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing, AIAHPC 2022

作者： Li, Delun Zhu, Chao Zhang, Yun Bai, Mei Huang, Zhipeng Xie, Zongwu Liu, Teng Fu, Hao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering CAST Beijing100094 China Beijing Satellite Manufacturing Co. Ltd. Beijing100094 China Beijing Institute of Space Environment Engineering Beijing100094 China

ISBN: (纸本)9781510657717

The TianHe manipulator is responsible for major tasks such as China space Station construction, operation, and supporting astronaut's extravehicular operations. The joint is the direct execution part of the manipulator to realize flexible movement, and it is the key component to ensure the core functions and performance of the China space Station manipulator, The composition of the joint is complex, and the experience of its reliability design is very poor. So the research of reliability design method for the joint is of great significance. Starting from the joint reliability design method, this paper uses various methods such as redundant design, margin design, and environmental adaptability design to complete the joint reliability design comprehensively. The ideas and methods for reliability design for the joint of the China space Station manipulator introduced in this paper have important reference value for the reliability design for the space complicated electromechanical products. © 2022 SPIE. All rights reserved.

关键词： space stations

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Optimization Design of Bracket and Thermal Controller Structures Based on Lattice Sandwich Cells

Optimization Design of Bracket and Thermal Controller Struct...

引用

第三届中国国际复合材料科技大会

作者： Xiaoyu Zhang Hao Zhou Huizhong Zeng Yaobing Wang Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering CAST

Structures with minimum weight is highly desired by spacecraft designers. Lattice sandwich cells with advantage of lightweight, multi-function and high stiffness provide wide application potential in spacecraft engineering. For a long time, the applications of lattice sandwich structures in spacecraft are limited due to the difficulties in manufacturing technique. In the past decade, the development of additive manufacturing techniques make the high-precision lattice structures become reality. In present work, the design of the thermal controller structure based on lattice cells and the bracket structures based on lattice cells are achieved using macroscale topology optimization, microscale lattice substitution and design of connection region. All the structures are necessary in spacecraft engineering. They play the role of thermal control and mechanical support of various equipments. All the structures are manufactured with AlSi10Mg by direct metal laser melting. The weight of structures made of lattice cells is much lighter than traditional structures made of solid materials or honey comb plates. The weight reduction are extremely important for the achievement of the spacecraft system engineering. The 3D printed structure can reduce the risk of leakage of phase change materials inside thermal controller because of absence of welding joint.

关键词： Bracket Thermal Controller Lattice Sandwich

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Additive Manufacturing spacecraft Structure Made of Lattice Sandwichs

Additive Manufacturing Spacecraft Structure Made of Lattice ...

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第三届中国国际复合材料科技大会

作者： Hao Zhou Xiaoyu Zhang Fuming Zeng Wenhua Shi Huizhong Zeng Yaobing Wang Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering CAST

Lattice sandwich structures have great advantage in lightweight, multi-function and high stiffness, which provide wide application potential in spacecraft engineering. However, the report of applications of lattice sandwich structures in spacecraft mainstructure is not available due to the difficulties in the manufacturing dimensional precision and the complex connection between parts. In recent years, the development of additive manufacturing techniques, such as selective laser melting, make the high-precision lattice structures become reality. In this work, the design of the first additive manufacturing satellite structure based on lattice cells are achieved using macroscale topology optimization, microscale lattice substitution and design of connection region. The structure is manufactured with AlSi10Mg by direct metal laser melting. The dimensions of the satellite structure are 400×400×400 mm. The main structure plays the role of mechanical support of various equipments. The weight of structures made of lattice cells is much lighter than traditional structures made of solid materials or honey comb plates. The mass of the structure and its carrying capacity are 8 kg and 104 kg, respectively. The structure mass-tosatellite mass ratio is 7.7%, which is lighter than most traditional satellite made of honeycomb sandwich panels, about 15～25%. The weight reduction is extremely important for the achievement of the spacecraft system engineering. The vibration test verified that the satellite structure could endure the vibration loads resulted from the rocket launching.

关键词： spacecraft Structure Lattice Sandwich Selective Laser Melting

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

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

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IEEE International Conference on Mechatronics and Automation

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

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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.

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