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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 experimental verification of microgravity simulation system for lunar sampling manipulator 7

Design and experimental verification of microgravity simulat...

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7th International Conference on Electromechanical Control technology and Transportation, ICECTT 2022

作者： Chen, Ming Zeng, Lei Ni, Wencheng Zhang, Yun Zhao, Jianfei Jiang, Shuiqing Beijing Key Laboratory of Space Intelligent Robot System Technology and Application Beijing Space Vehicle General Design Department Beijing China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300458 China

ISBN: (纸本)9781510656659

According to the requirements of ground test task of lunar sampling manipulator, a microgravity simulation system based on suspension method is designed and developed. The system is mainly composed of Position tracking system, Force compensation system, Suspension system, Posture measurement system and Integrated control system. The simulation system has completed the ground test and ground verification of lunar sampling manipulator, which has been successfully launched, and successfully completed the on-orbit mission. The microgravity simulation system of manipulator has good universality and expansibility, and can be applied to the ground test of other space manipulator products. © 2022 SPIE

关键词： Microgravity

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Design and Verification of Microgravity Simulation system for space Station Manipulator 3

Design and Verification of Microgravity Simulation System fo...

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

作者： Chen, Ming Zeng, Lei Jin, Yan Zhu, Chao Zhang, Yun Zhang, Xinrui Beijing Key Laboratory of Space Intelligent Robot System Technology and Application Beijing Space Vehicle General Design Department Beijing China

ISBN: (纸本)9781665437189

According to the requirements of ground test task of space Station manipulator, a microgravity simulation system of space Station manipulator based on suspension method is designed and developed. The system is mainly composed of support system, constant tension system, two-dimensional followup system, pose measurement system and detection and analysis system. The simulation system has completed the ground test and ground verification of the space Station manipulator. At present, this manipulator has been successfully launched, and the space Station manipulator has successfully completed its mission to deploy on-orbit. The designed micro gravity simulation system of manipulator has good universality and expansibility, and can be applied to the ground test of other space manipulator products. © 2021 IEEE.

关键词： Microgravity

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Development of China's spaceborne SAR satellite,processing strategy,and application:take Gaofen-3 series as an example

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地球空间信息科学学报（英文版） 2024年第1期27卷 221-236页

作者： Guo Zhang Shunyao Wang Zhenwei Chen Yuzhi Zheng Ruishan Zhao Taoyang Wang Yu Zhu Xinzhe Yuan Wei Wu Weitao Chen State Key Laboratory of Information Engineering in Surveying Mapping and Remote SensingWuhan UniversityWuhanChina School of Law Wuhan UniversityWuhanChina School of Geomatics Liaoning Technical UniversityFuxinChina School of Remote Sensing and Information Engineering Wuhan UniversityWuhanChina Institute of Spacecraft System Engineering China Academy of Space TechnologyBeijingChina National Disaster Reduction Center of China Ministry of Emergency ManagementBeijingChina School of Computer Science China University of GeosciencesWuhanChina Key Laboratory of Space Ocean Remote Sensing and Application Ministry of Natural Resources of the People's Republic of ChinaBeijingChina

After mastering the key technologies of manufacturing spaceborne Synthetic Aperture Radar(SAR),China's SAR satellites have been successfully launched into *** the only civil microwave satellite listed in the"National High-resolution Earth Observation system Major Project,"the Gaofen-3(GF-3)01 satellite is the first C-band multi-polarization SAR satellite with a resolution of 1 ***-3 series satellites stand out among civil SAR satellites worldwide because of their high resolution,wide swath,high geometric radiation quality,multiple imaging modes,and long operation *** GF-3 series satellites as an example,this study introduces the development of China's civil SAR satellites,as well as their processing strategies and *** success of the GF-3 series satellites shows that China's SAR remote sensing technology has stepped into a new era of high-quality and high-precision Earth observations.

关键词： High-resolution Synthetic Aperture Radar(SAR) GaoFen-3(GF-3)satellites earth observation

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Dual-Polarized Wideband Wide-Beam Millimeter-Wave Magneto-Electric Dipole Antenna

Dual-Polarized Wideband Wide-Beam Millimeter-Wave Magneto-El...

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2023 Cross Strait Radio Science and Wireless technology Conference, CSRSWTC 2023

作者： Gou, Linglong Ma, Jing Shi, Bin Zhu, Zhongbo Peng, Lin Guilin University of Electronic Technology Key Laboratory of Microwave and Optical Wave Application Technology Guangxi Guilin541004 China Beijing Simulation Center The Science and Technology on Special System Simulation Laboratory Beijing100854 China The National Key Laboratory of Science and Technology on Space Microwave Xi'an710100 China

ISBN: (纸本)9798350358971

In this manuscript, a dual-polarized wideband wide beamwidth magneto-electric (ME) dipole antenna for millimeter-wave mobile communication is proposed. As can be seen from the simulation results, this design exhibits excellent performance. Owing to the mutual resonances of the magnetic dipole and the electric dipole, large bandwidths of 64.8% and 59% (18.4 GHz-33 GHz and 17.29 GHz-33.9 GHz) are obtained for the two polarizations, respectively. The isolation between the two ports is greater than 25 dB. By loading metal vias, the antenna's beamwidth is widened to more than 100° through the whole operating band. The antenna size is 5mm×5 mm ×1.72 mm, and this compact structure is quite suitable for using in beam scanning antennas. © 2023 IEEE.

关键词： dual-polarization millimeter-wave (mm-wave) wideband

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A Survey of space robotic Technologies for On-Orbit Assembly

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space(Science & technology) 2022年第1期2022卷 325-337页

作者： Delun Li Lou Zhong Wei Zhu Zhipeng Xu Qirong Tang Wenhao Zhan Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringCASTBeijingChina College of Mechanical Engineering Tongji UniversityShanghaiChina National Key Laboratory of Human Factors Engineering China Astronaut Research and Training CenterBeijingChina

The construction of large structures is one of the main development trends of the space exploration in the future,such as large space stations,large space solar power stations,and large space *** is one of important development tendency,which aims to make full use of space robots to assemble space structures autonomously in the aerospace *** that on-orbit assembly is an effective method to solve the problem of construction of large-scale spatial structures,it is necessary to motivate and facilitate the research of space robotics technologies for on-orbit ***,in this paper,the development status of space robot technology and the relevant space robot on-orbit assembly technology in recent decades are ***,based on the space robot motion planning and assembly sequence planning,the development of space robot planning algorithms is *** space robot assembly task,the space robot assembly method is *** the control point of view,how to solve the vibration suppression and compliant assembly of on-orbit assembly is reviewed,which provides a reference for the autonomous intelligent assembly of space robots for large-scale structures in *** order to simulate the space assembly scene on the ground,this paper introduces the development of ground verification experiments and provides ideas for the effective verification of space on-orbit assembly *** summary,though some of these problems have been satisfactorily solved in the past research,further research is still necessary in the ***,it looks forward to the future research direction of space machine on-orbit assembly.

关键词： robot summarized autonomous

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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 Smooth Movement Control and Testing of a Wheeled-Legged robot

Research on Smooth Movement Control and Testing of a Wheeled...

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IEEE International Conference on Mechatronics and Automation

作者： Jingyu Wang Daming Li Zhijun Zhao Wang Jie Yaobing Wang Junkai Sun Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

This paper focuses on the application of wheeledlegged robots for extraterrestrial exploration. To address the stability and terrain adaptability issues during planetary surface exploration, a novel motion control strategy integrating body attitude control and support force control is proposed based on kinematic inverse solution. This strategy adjusts the body posture by dynamically regulating the length of each leg to ensure sufficient wheel-ground contact force while traversing rough terrains. The paper also conducts simulation and tests of the wheeled-legged robot in typical terrains. Results demonstrate that the proposed algorithm effectively overcomes terrain variations and enhances stability during the robot's movement.

关键词： Legged locomotion Attitude control Force Wheels Kinematics Stability analysis Surface roughness

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Pattern Analysis and Placement Optimization of the Four-horn Monopulse for Terahertz Communication

Pattern Analysis and Placement Optimization of the Four-horn...

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2023 Cross Strait Radio Science and Wireless technology Conference, CSRSWTC 2023

作者： Lu, Yong-Han Zhu, Zhong-Bo Ma, Jing Shi, Bin Zhang, Yu-Ting Peng, Lin Guilin University of Electronic Technology Key Laboratory of Microwave and Optical Wave Application Technology Guangxi Guilin541004 China National Key Laboratory of Science and Technology on Space Microwave Xi'an710100 China Beijing Simulation Center Science and Technology on Special System Simulation Laboratory Beijing100854 China School of Optoelectronic Engineering Guangxi Key Laboratory of Optoelectronic Information Processing Guilin University of Electronic Technology Guilin541004 China

ISBN: (纸本)9798350358971

The mobile node communication in terahertz monopulse system requires narrow beam to align with the mobile target precisely. In this paper, the radiation pattern of four-horn monopulse antenna is analyzed by use of the geometric optics (GO) and aperture field integration method (AFIM), and an efficient placement optimization to reduce the beamwidth of four-horn monopulse is presented. The optimization combines the genetic algorithm (GA) with GO-AFIM. The GA is employed to seek the optimal positions of the four horns, and the GO and AFIM are introduced into the fitness function of GA to evaluate the individual fitness. The optimization result has narrowed the beamwidth and enhanced gain of radiation pattern. Compared with the simulation in full wave software, the proposed method costs less time in pattern analysis and performs more efficiently in placement optimization. © 2023 IEEE.

关键词： aperture field integration method (AFIM) geometric optics (GO) placement optimization terahertz monopulse

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Long-life Design and Experimental Verification of Ball Screw for spacecraft Mechanism 7

Long-life Design and Experimental Verification of Ball Screw...

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7th International Conference on Electromechanical Control technology and Transportation, ICECTT 2022

作者： Zhang, Wenming Zhang, Yun Chen, Ming Zeng, Lei Gao, Sheng Jiang, Xufu Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China Beijing Satellite Manufacturing Limited Company Beijing China

ISBN: (纸本)9781510656659

The ball screw is a commonly used transmission component. When applied to the spacecraft mechanism, it is necessary to comprehensively consider space environmental factors such as on-orbit high and low temperature, vacuum, atomic oxygen, electron irradiation, single particle, ultraviolet and infrared irradiation. In view of the long-life application requirements of ball screws for spacecraft mechanism, the factors affecting the life of the ball screws are analyzed. Two design schemes are proposed according to the lubrication method of the ball screws and the material of ball for a ball screws of a certain spacecraft mechanism. The design scheme of ceramic ball + raceway sputtering MoS2 lubrication has been confirmed by the test. The design can work for no less than 7000 times under the specified load, which meets the requirements of the flight model on-orbit. Through the ball screw long-life test, it can be seen that the load capacity and service life of the solid lubricated ball screw are significantly reduced. In the development process of the spacecraft mechanism ball screw, a special life test must be carried out to verify whether the ball screw can meet the on-orbit requirements. © 2022 SPIE

关键词： Layered semiconductors

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