Space debris is growing dramatically with the rapid pace of human exploration of space,which seriously threatens the safety of artificial spacecraft in orbit.Therefore,the active debris removal(ADR)is important.This r...Space debris is growing dramatically with the rapid pace of human exploration of space,which seriously threatens the safety of artificial spacecraft in orbit.Therefore,the active debris removal(ADR)is important.This review aims to review the ADR methods and to advance related research in the future.The current research and development status are clearly demonstrated by mapping knowledge domain and charts.In this paper,the latest research results are classified and summarized in detail from two aspects of space debris capture and removal.The scheme comparison and evaluation of all ADR methods are performed,and the applicable scopes of various methods are summarized.Each ADR method is scored using a cobweb evaluation model based on six indicators.Future development of ADR is discussed to promote further research interest.展开更多
The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture.According to these requirements,an end-effector prototype combining the tendon-shea...The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture.According to these requirements,an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was manufactured.An analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed,and it was a guideline of the end-effector design.Furthermore,the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture space.The capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS software.The results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft capture.The translation misalignments in radial directions are±100 mm,and angular misalignments about pitch and yaw are±15°.展开更多
This review paper presents a comprehensive evaluation and forward-looking perspective on the underexplored topic of servicing target objects using spacecraft swarms.Such targets can be known or unknown,cooperative or ...This review paper presents a comprehensive evaluation and forward-looking perspective on the underexplored topic of servicing target objects using spacecraft swarms.Such targets can be known or unknown,cooperative or uncooperative,and pose significant challenges in modern space operations due to their inherent complexity and unpredictability.Successfully servicing space objects is vital for active debris removal and broader on-orbit servicing tasks such as satellite maintenance,repair,refueling,orbital assembly,and construction.Significant effort has been invested in the literature to explore the servicing of targets using a single spacecraft.Given its advantages and benefits,this paper expands the discussion to encompass a swarm approach to the problem.This review covers various single-spacecraft approaches and presents a critical examination of the existing,although limited,body of work dedicated to servicing orbital objects using multiple spacecraft.The focus is also broadened to include some influential studies concerning the characterization,capture,and manipulation of physical objects by general multiagent systems,a subject with significant parallels to the core interest of this manuscript.Furthermore,this article also delves into the realm of simultaneous localization and mapping,highlighting its application within close-proximity operations in space,especially when dealing with unknown uncooperative targets.Special attention is paid to the benefits that this field can receive from distributed multiagent architectures.Finally,an exploration of the promising field of swarm robotics is presented,with an emphasis on its potential to revolutionize the servicing of orbital target objects.Concurrently,a survey of general research directly engaging swarms in the orbital context is conducted.This review aims to bridge the knowledge gap and stimulate further research in the underexplored domain of servicing space targets with spacecraft swarms.展开更多
基金This work was supported by the National Key R&D Program of China(Grant No.2018YFB1304600)the National Natural Science Foundation of China(Grant No.51775541)+2 种基金the CAS Interdisciplinary Innovation Team(Grant No.JCTD-2018-11)the State Key Laboratory of Robotics Foundation(Grant No.Y91Z0303)the Hundred-Talent Program(Chinese Academy of Sciences)(Grant No.Y8A3210304).
文摘Space debris is growing dramatically with the rapid pace of human exploration of space,which seriously threatens the safety of artificial spacecraft in orbit.Therefore,the active debris removal(ADR)is important.This review aims to review the ADR methods and to advance related research in the future.The current research and development status are clearly demonstrated by mapping knowledge domain and charts.In this paper,the latest research results are classified and summarized in detail from two aspects of space debris capture and removal.The scheme comparison and evaluation of all ADR methods are performed,and the applicable scopes of various methods are summarized.Each ADR method is scored using a cobweb evaluation model based on six indicators.Future development of ADR is discussed to promote further research interest.
基金Project(2006AA04Z228) supported by National Hi-tech Research and Development Program of China
文摘The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture.According to these requirements,an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was manufactured.An analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed,and it was a guideline of the end-effector design.Furthermore,the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture space.The capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS software.The results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft capture.The translation misalignments in radial directions are±100 mm,and angular misalignments about pitch and yaw are±15°.
基金supported by the Discovery Grant(RGPIN-2018-05991)Collaborative Research and Training Experience Program Grant(555425-2021)the Natural Sciences and Engineering Research Council of Canada.
文摘This review paper presents a comprehensive evaluation and forward-looking perspective on the underexplored topic of servicing target objects using spacecraft swarms.Such targets can be known or unknown,cooperative or uncooperative,and pose significant challenges in modern space operations due to their inherent complexity and unpredictability.Successfully servicing space objects is vital for active debris removal and broader on-orbit servicing tasks such as satellite maintenance,repair,refueling,orbital assembly,and construction.Significant effort has been invested in the literature to explore the servicing of targets using a single spacecraft.Given its advantages and benefits,this paper expands the discussion to encompass a swarm approach to the problem.This review covers various single-spacecraft approaches and presents a critical examination of the existing,although limited,body of work dedicated to servicing orbital objects using multiple spacecraft.The focus is also broadened to include some influential studies concerning the characterization,capture,and manipulation of physical objects by general multiagent systems,a subject with significant parallels to the core interest of this manuscript.Furthermore,this article also delves into the realm of simultaneous localization and mapping,highlighting its application within close-proximity operations in space,especially when dealing with unknown uncooperative targets.Special attention is paid to the benefits that this field can receive from distributed multiagent architectures.Finally,an exploration of the promising field of swarm robotics is presented,with an emphasis on its potential to revolutionize the servicing of orbital target objects.Concurrently,a survey of general research directly engaging swarms in the orbital context is conducted.This review aims to bridge the knowledge gap and stimulate further research in the underexplored domain of servicing space targets with spacecraft swarms.
