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中国空间站机械臂完成首次航天员托举:中国制造、七个关节、十套控制器

  2021-07-06 01:29:15

高唐县哪家足疗足浴店有大保健全套,【╁隈★57⒋_55.088★】大学生·多少钱·一晚·特殊·一次·宾馆·酒店·服务·护士·包夜·少妇·【╁隈★57⒋_55.088★】  大连市统筹推进新冠肺炎疫情防控和经济社会发展工作总指挥部2021年3月23日发布关于恢复群体性聚餐经营活动的通告大疫经指发〔2021〕27号,恢复群体性聚餐经营活动(含农村自办宴席)。

  中新网北京7月4日电 (马帅莎)中国航天员刘伯明、汤洪波4日顺利出舱,空间站核心舱机械臂首次托举航天员刘伯明到指定位置圆满完成出舱操作,抬升天和核心舱舱外全景相机的位置,并验证了机械臂的大范围转移能力。

  中国制造 核心部件国产化

  空间站核心舱机械臂由中国航天科技集团五院抓总研制,是目前同类航天产品中复杂度最高、规模最大、控制精度最高的空间智能机械系统,主要承担舱段转位、航天员出舱活动、舱外货物搬运、舱外状态检查、舱外大型设备维护等八大类在轨任务。核心舱机械臂展开长度为10.2米,最多能承载25吨的重量,是空间站任务中的“大力士”。

  空间站机械臂是中国航天事业发展的新领域之一,中国成为世界上第三个掌握大型空间机械臂核心技术并应用的国家,全部核心部件实现国产化,并形成了多项国家空间机器人行业标准,引领空间智能装备的中国制造之路。

  七个关节 可爬行

  空间站核心舱机械臂是中国首个可长期在太空轨道运行的机械臂,其肩部设置了三个关节、肘部设置了一个关节、腕部设置了三个关节,一共七个关节,每个关节对应一个自由度,就如同人的手臂一般,具有七自由度的活动能力。通过各个关节的旋转,能够实现自身前后左右任意角度与位置的抓取和操作,为航天员出舱顺利开展出舱任务提供强有力的保证。

  为扩大任务触及范围,空间站核心舱机械臂还具备“爬行”功能。由于核心舱机械臂采用了“肩3+肘1+腕3”的关节配置方案,肩部和腕部关节配置相同,意味着机械臂两端活动功能是一样的。

  同时肩部与腕部各安装了一个末端实行器,作为机器臂的触手,末端实行器可以对接舱体表面安装的目标适配器,机械臂通过末端实行器与目标适配器对接与分离,同时配合各关节的联合运动,从而实现在舱体上的爬行转移。

  十套“控制大脑”

  为实现整个机械臂的平稳运行和精确定位,空间站机械臂各处装有“控制大脑”,包括1套机械臂中央控制器、7套关节控制器和2套末端控制器。

  其中,机械臂中央控制器是机械臂管理系统的控制和通信枢纽,负责接收地面飞控人员的各种指令,迅速制定动作方案,进而控制机械臂精准地完成各种动作。该控制器实际上是一台高性能、高可靠的宇航计算机,核心部分采用三模冗余设计架构,三个模块同时实行相同的操作,能够有效识别故障风险,大幅提高可靠性。

  关节控制器和末端控制器负责控制空间站核心舱机械臂7处关节、2处末端实行机构,对各位置的信息交互起到连接和转发的功能,对于机械臂关节和末端的灵活性和精准度起到着至关重要的作用。(完)

【编辑:王祎】

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