The invention discloses a man-machine cooperation space station extravehicular load assembly method, and relates to the technical field of manned spaceflight and on-orbit assembly. The problem that large loads outside a space station cabin cannot be assembled due to the fact that hand-eye vision of an existing space mechanical arm is blocked by target loads and the like is solved. The method comprises the steps that S1, the space manipulator is in butt joint with a target load, and the target load is transferred to an assembly operation point; s2, the astronaut is transferred to an assembly operation station, and foot fixation of the astronaut is completed on the space station cabin or other auxiliary devices; s3, switching the space manipulator to a zero-force follow-up control mode; s4, the astronaut drags the target load to complete butt joint with the butt joint interface on the outer surface of the space station cabin; s5, the astronaut completes fixation of the target load and a surface interface of the space station cabin; and S6, the space mechanical arm is separated from the target load, so that assembly of the out-of-cabin load of the man-machine cooperation space station is completed. The invention is used for the extra-cabin load assembly of the space station.
一种人机协同空间站舱外载荷装配方法,涉及载人航天、在轨装配技术领域。本发明为了解决现有空间机械臂因手眼视觉被目标载荷物遮挡等原因,存在无法对空间站舱外的大型载荷进行装配的问题。本发明S1:将空间机械臂与目标载荷进行对接,并将目标载荷转移至装配操作点;S2:航天员转移至装配操作工位,并在空间站舱体上或其他辅助装置上完成航天员的足部固定;S3:将空间机械臂切换至零力随动控制模式;S4:航天员拖拽目标载荷完成与空间站舱体的外表面对接接口的对接;S5:航天员完成目标载荷与空间站舱体的表面接口固定;S6:空间机械臂与目标载荷脱离,至此,完成了人机协同空间站舱外载荷的装配。本发明用于空间站舱外载荷装配。
Man-machine cooperation space station extravehicular load assembly method
一种人机协同空间站舱外载荷装配方法
2023-10-10
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS |
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