Modular robotic manipulator and ground assembly system for on-orbit assembly of space telescopes

Author:

Zhang Enyang12,Sai Huayang12,Li Yanhui1,Sun Xiangyang12,Zhang Tao12,Xu Zhenbang1

Affiliation:

1. CAS Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, Jilin, China

2. University of Chinese Academy of Sciences, Beijing, China

Abstract

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.

Funder

National Natural Science Foundation of China

Publisher

SAGE Publications

Subject

Mechanical Engineering

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