China News Service, Beijing, November 8th (Ma Shuaisha Zhang Yushi Xiaodan) On November 8, Chinese astronauts Zhai Zhigang and Wang Yaping safely returned to the core module of Tianhe. A complete success.
In this outing activity, the astronauts successfully completed the installation of the robotic arm cascade device, laying the foundation for the subsequent realization of the "Sky Giant Arm" combination.
Connect two arms to complete "1+1=1"
The robotic arm cascade device consists of a dual-arm assembly adapter and a suspension device. It is the key equipment for the space station's robotic arm to achieve combined actions.
Among them, the dual-arm assembly adapter is vividly compared by the space station model developers as a "cosmic-level robotic arm adapter."
The robotic arm of the space station was developed by the Fifth Academy of China Aerospace Science and Technology Corporation. It is one of the new fields of China's aerospace development. Difficulty in the development of connecting parts.
With the smooth progress of China's space station construction, the dual-arm assembly adapter will help two completely different manipulators to complete the transfer, ensuring that the combined manipulator has the ability to carry a larger load for large-scale transfer.
According to Gao Sheng, the person in charge of the flight control of the space station manipulator of the Fifth Academy of Aerospace Science and Technology Group, the manipulator of the space station is composed of the core module manipulator (big arm) and the "Wentian" experimental module manipulator (small arm).
According to the mission planning of the space station’s key technology verification and construction phase, the experimental module manipulator will be launched into orbit along with the "Wentian" experimental module, and it will complete the "large and small arms on-orbit combination" operation with the core module manipulator in space. The key device to realize the combination is the dual-arm combination adapter.
Since the core cabin manipulator arm with a length of 10 meters and the experimental cabin manipulator arm with a length of 5 meters are quite different in "body shape", the port design is also quite different.
How to do a good job in the docking of two robotic arms, achieve the effect of "1+1=1", and complete tasks with strong adaptability and greater difficulty in operation, is a huge innovation problem for the development team.
To this end, the R&D team of the Fifth Academy of Aerospace Science and Technology Group carried out program demonstrations and optimized designs time and time again, turning the small "universal-grade manipulator adapter" from a creative idea into a "four-two-handed" technology artifact.
It not only helps to complete the interface interconnection of the two robotic arms, but also realizes the electrical and information communication between the two, and safely opens up the "respect and supervision" between the two robotic arms in the harsh space environment.
Complete the task, collect the "knife" back to the "sheath"
During the installation of the robotic arm cascade device, the suspension device first installed on the bulkhead of the core cabin has a clever claw structure to capture and store the dual-arm assembly adapter and provide power supply guarantee for it.
After the suspension device is installed, the astronaut Zhai Zhigang gently pushes the dual-arm assembly adapter into the bayonet position. The suspension device is controlled by the command remote control and accurately grasps the adapter through the claw structure, and "holds it into his arms." ".
So, what is the relationship between the dual-arm combination adapter and the suspension device?
According to Gao Xiangyu, the designer in charge of the mechanical arm suspension device of the Fifth Academy of Aerospace Science and Technology Group, the dual-arm assembly adapter is like a "sword", and the suspension device is like a "scabbard."
In the future, when the two space station manipulators are engaged in docking work, the core cabin manipulator (boom) will actively explore the dual-arm assembly adapter, identify the target through the end vision camera, and accurately remove it from the suspension device to complete Combined with the robotic arm of the "Wentian" experimental cabin, it forms a longer and more stable dexterous space robot.
"By then, the reach of the space station's robotic arm will be directly expanded to 14.5 meters, and the range of activities can directly cover the three compartments of the space station, enabling inspections on the surface of the space station's cabin at any time." Gao Xiangyu said, at the same time, the robotic arm is in the combined docking state. After completing the on-orbit task, it is again divided into two parts: the large and small robotic arms. At this time, the dual-arm assembly adapter is naturally received "knife" into the "sheath", and the core cabin robotic arm actively connects the dual-arm assembly adapter Put it back in the suspension device.
"In the future, after the space station completes the three-cabin combination, most of the astronauts' exit missions will be completed in the form of combined arms." said Zhu Chao, the chief designer of the manipulator dual-arm combination adapter for the Fifth Academy of Aerospace Science and Technology Group.
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