Design for a dual-arm space robot

Hui Li; Qiang Huang; Que Dong; Chen Li; Yu He; Zhihong Jiang; Yue Li; Peng Lv; Lin Xie; Xiaopeng Chen; Kejie Li

doi:10.1007/978-3-7091-0277-0_22

Design for a dual-arm space robot

Hui Li, Qiang Huang, Que Dong, Chen Li, Yu He, Zhihong Jiang^*, Yue Li, Peng Lv, Lin Xie, Xiaopeng Chen, Kejie Li

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

3 Citations (Scopus)

Abstract

With the development of space technology, plenty of work for space assembly and maintenance should be carried out. However, these tasks are dangerous and high cost for astronauts. It is necessary to develop a space robot to complete these dangerous space operations. In this paper, we present a method of the design of dual-arm space robot, including the mechanism, integrative joint, vision system and vision-based climbing trajectory plan. Finally, the joint control performance experiment is provided.

Original language	English
Title of host publication	CISM International Centre for Mechanical Sciences, Courses and Lectures
Publisher	Springer International Publishing
Pages	191-198
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-7091-0277-0_22
Publication status	Published - 2010

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	524
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

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10.1007/978-3-7091-0277-0_22

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Li, H., Huang, Q., Dong, Q., Li, C., He, Y., Jiang, Z., Li, Y., Lv, P., Xie, L., Chen, X., & Li, K. (2010). Design for a dual-arm space robot. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 191-198). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 524). Springer International Publishing. https://doi.org/10.1007/978-3-7091-0277-0_22

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abstract = "With the development of space technology, plenty of work for space assembly and maintenance should be carried out. However, these tasks are dangerous and high cost for astronauts. It is necessary to develop a space robot to complete these dangerous space operations. In this paper, we present a method of the design of dual-arm space robot, including the mechanism, integrative joint, vision system and vision-based climbing trajectory plan. Finally, the joint control performance experiment is provided.",

author = "Hui Li and Qiang Huang and Que Dong and Chen Li and Yu He and Zhihong Jiang and Yue Li and Peng Lv and Lin Xie and Xiaopeng Chen and Kejie Li",

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language = "English",

series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

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Li, H, Huang, Q, Dong, Q, Li, C, He, Y, Jiang, Z, Li, Y, Lv, P, Xie, L, Chen, X & Li, K 2010, Design for a dual-arm space robot. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 524, Springer International Publishing, pp. 191-198. https://doi.org/10.1007/978-3-7091-0277-0_22

Design for a dual-arm space robot. / Li, Hui; Huang, Qiang; Dong, Que et al.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2010. p. 191-198 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 524).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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T1 - Design for a dual-arm space robot

AU - Li, Hui

AU - Huang, Qiang

AU - Dong, Que

AU - Li, Chen

AU - He, Yu

AU - Jiang, Zhihong

AU - Li, Yue

AU - Lv, Peng

AU - Xie, Lin

AU - Chen, Xiaopeng

AU - Li, Kejie

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AB - With the development of space technology, plenty of work for space assembly and maintenance should be carried out. However, these tasks are dangerous and high cost for astronauts. It is necessary to develop a space robot to complete these dangerous space operations. In this paper, we present a method of the design of dual-arm space robot, including the mechanism, integrative joint, vision system and vision-based climbing trajectory plan. Finally, the joint control performance experiment is provided.

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EP - 198

BT - CISM International Centre for Mechanical Sciences, Courses and Lectures

PB - Springer International Publishing

ER -

Design for a dual-arm space robot

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