论文标题
轨道上卫星服务的步行太空机器人：recobot
A Walking Space Robot for On-Orbit Satellite Servicing: The ReCoBot
论文作者
论文摘要
卫星经济效率的关键因素是它们在轨道上的可用性。更换标准化的构件，例如空的燃油箱或过时的电子模块，可以极大地延长卫星的寿命。但是，这需要灵活的机器人可以在这些卫星表面上弹力，以最佳可访问性和操纵。本文介绍了Recobot，这是一种7轴步行空间操纵器，用于运动和操纵。机器人可以连接到兼容的结构，其对称的末端，并提供手动远距离和运动计划的接口，并不断变化。我们以开源机器人软件为基础，并易于使用的组件，以通过早期演示器评估整体概念。所提出的操纵器的长度为1.20 m，重量为10.4 kg，在我们的实验室环境中成功在卫星模型上移动。
A key factor in the economic efficiency of satellites is their availability in orbit. Replacing standardized building blocks, such as empty fuel tanks or outdated electronic modules, could greatly extend the satellites' lifetime. This, however, requires flexible robots that can locomote on the surface of these satellites for optimal accessibility and manipulation. This paper introduces ReCoBot, a 7-axis walking space manipulator for locomotion and manipulation. The robot can connect to compatible structures with its symmetric ends and provides interfaces for manual teleoperation and motion planning with a constantly changing base and tip. We build on open-source robotics software and easily available components to evaluate the overall concept with an early stage demonstrator. The proposed manipulator has a length of 1.20 m and a weight of 10.4 kg and successfully locomotes over a satellite mockup in our lab environment.
