Abstract
Large-aperture space telescope is the key equipment for studying the origin and evolution of the universe and various celestial bodies. Developing large-aperture space telescope is challenging and has become a priority in the field of optical engineering. Due to the mass and volume constraints of launch vehicles, it has to be designed and launched in modules and then assembled on-orbit by space robots. In this paper, we present a conceptual of 10-meter diameter modular space telescope together with robotic assembly strategy. To fulfill on-orbit assembly and maintenance of the space telescope, a novel assembly robot with a ring-shaped mobile base and a redundant stretchable manipulator is proposed. The time-optimal trajectory planning based on genetic algorithm is utilized to achieve efficient assembly. The preliminary ground experiment of assembling submirror modules of space telescope using the KUKA LWR iiwa-7 is carried to verify the feasibility of the proposed method, and the results show that the assembly task of telescope modules can be accomplished successfully with appropriate forces and torques.
Highlights
The space telescope plays a significant role in studying the origin and evolution of the universe and various celestial bodies
To fulfill on-orbit assembly and maintenance of the 10-meter aperture modular space telescope, a novel assembly robot consisting of a ring-shaped mobile base and a 9DOFs stretchable manipulator is proposed in this paper
Large-aperture space telescope on-orbit assembled by space robots is a research frontier of the international optical engineering field
Summary
The space telescope plays a significant role in studying the origin and evolution of the universe and various celestial bodies. (2) A novel assembly robot with a ring-shaped mobile base and a redundant stretchable manipulator for space telescope is designed, which has the advantages of large workspace and small volume. After the space telescope is assembled by the robot, the optical wavefront alignment can be achieved by controlling the precise mechanism of each submirror module. According to the proposed conceptual design of the 10-meter aperture modular space telescope and assembly process, the function requirements for assembly robot are as follows:. To fulfill on-orbit assembly and maintenance of the 10-meter aperture modular space telescope, a novel assembly robot consisting of a ring-shaped mobile base and a 9DOFs stretchable manipulator is proposed in this paper. The acceleration of joints belongs to [−1◦/s2, 1◦/s2], which is within the appropriate boundaries
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