论文信息 - DESIGN OF A MANIPULATOR PROTOTYPE FOR ON-ORBIT MODULE REPLACEMENT

DESIGN OF A MANIPULATOR PROTOTYPE FOR ON-ORBIT MODULE REPLACEMENT

Performance and lifespan of spacecraft can be enhanced and prolonged by space manipulator’s on-orbit service. In this paper, a space manipulator prototype is designed for module on-orbit replacement, and the kinematics model of the manipulator is deduced. Kinematics, dynamics and control algorithm co-simulation model is set up for task simulation. Simulation results show that the manipulator prototype in this paper can complete the module replacement task.

Chen Meng | Tang Pin | Han Liangliang | Hu Bingshan | Zou Huaiwu

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