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Design and Practice of Space Station Manipulator Inspecting for Berthing Manned Spacecraft

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14274))

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Abstract

Design and simulation of space station manipulator inspection mission for berthing manned spacecraft during the assembly and construction of the Tiangong space station is presented in this paper. The system model and simulation verification platform are established by using OpenInventor and VC++ joint programming. A design method of spacecraft on-orbit inspection outside the cabin using space manipulator is proposed. This method realizes decoupling design of space station platform tracking, telemetry, command (TT&C), field of view of extravehicular sensor and manipulator motion through degree of freedom decomposition, and realizes rapid design of extravehicular inspection mission. Through on-orbit flight verification, this method effectively ensures the reliable implementation of the mission and accumulates experience and technical basis for the stable operation of Tiangong space station.

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Authors and Affiliations

  1. Beijing Institute of Spacecraft System Engineering, Beijing, 100094, China

    Dongyu Liu, Linhou Bai, Wei Wang, Changchun Liang & Pengfei Xin

Authors
  1. Dongyu Liu
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  2. Linhou Bai
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  3. Wei Wang
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  4. Changchun Liang
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  5. Pengfei Xin
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Corresponding author

Correspondence to Dongyu Liu .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Cite this paper

Liu, D., Bai, L., Wang, W., Liang, C., Xin, P. (2023). Design and Practice of Space Station Manipulator Inspecting for Berthing Manned Spacecraft. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_25

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  • DOI: https://doi.org/10.1007/978-981-99-6501-4_25

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6500-7

  • Online ISBN: 978-981-99-6501-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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