| Modular robotic manipulator and ground assembly system for on-orbit assembly of space telescopes |
| E. Zhang, H. Sai, Y. Li, X. Sun, T. Zhang and Z. Xu
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| 2023
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| ISSN | 09544062
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| 摘要 | In the field of astronomical observation, large space telescopes are key tools for deep space exploration. However, the aperture of space telescopes is limited by the ability to fabricate large monolithic mirrors or lenses and by severe restrictions on the overall volume and mass capacity of the launch vehicle. The use of robots for autonomous assembly while in orbit is a promising option for the deployment of large-aperture space telescopes. In this paper, we describe a modular robotic manipulator that offers high precision and flexibility. A space telescope ground assembly system is then designed, the key components of which are a redundant robotic manipulator and a reconfigurable telescope unit. The ground-based assembly of the space telescope is implemented through a combination of trajectory planning, visual perception, and robotic supple control techniques, validating the ability of the robotic manipulator to automatically assemble modular space telescopes. Finally, the developed robotic manipulator is used to conduct ground assembly demonstration experiments, and the modular space telescope is assembled according to the assembly task plan, accumulating technical experience for future space telescope assembly tasks in orbit. © IMechE 2023. |
| DOI | 10.1177/09544062231193212
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| URL | 查看原文
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| 收录类别 | sci
; ei
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| 引用统计 |
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| 文献类型 | 期刊论文
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| 条目标识符 | http://ir.ciomp.ac.cn/handle/181722/68153
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| 专题 | 中国科学院长春光学精密机械与物理研究所
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推荐引用方式
GB/T 7714 |
E. Zhang, H. Sai, Y. Li, X. Sun, T. Zhang and Z. Xu. Modular robotic manipulator and ground assembly system for on-orbit assembly of space telescopes[J],2023.
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| APA |
E. Zhang, H. Sai, Y. Li, X. Sun, T. Zhang and Z. Xu.(2023).Modular robotic manipulator and ground assembly system for on-orbit assembly of space telescopes..
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| MLA |
E. Zhang, H. Sai, Y. Li, X. Sun, T. Zhang and Z. Xu."Modular robotic manipulator and ground assembly system for on-orbit assembly of space telescopes".(2023).
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