空间机械臂热控制关键技术研究
文献类型：学位论文
| 作者 | 石进峰 |
| 学位类别 | 博士 |
| 答辩日期 | 2014-07 |
| 授予单位 | 中国科学院大学 |
| 导师 | 母德强,吴清文 |
| 学位专业 | 机械制造及其自动化 |
| 中文摘要 | 空间机械臂作为在轨期间完成空间站组装和维护、载荷照料以及支持航天员出舱活动的智能工具，其服役伴随整个空间站寿命的始末。作为我国空间站机械臂系统中的精细臂，本文研究的空间机械臂设计寿命长、内部功耗大、工作时间长，工作姿态复杂多变，都对其热设计提出了新的挑战。高度集成、模块化的关节内部功耗大，散热路径复杂；开放式的末端作用器漏热严重且不均匀，非工作模式下保温需较大的加热功耗；手眼相机照明组件散热困难；分析工况难以确定及地面试验周期长，如何利用成熟的热设计方法，解决空间机械臂的热设计难题，满足其在轨温度要求等内容，是本文的主要研究内容。 论文概述了国内外空间机械臂的研究现状，总结了空间机械臂的工作特点及热设计特点，介绍了国外典型机械臂组件的热设计方案。在此基础上，对本文的研究对象我国空间机械臂精细臂的结构、工作模式进行分析，总结了其热设计所面临的重点、难点问题。 空间机械臂的运行轨道为低地球轨道，原子氧、粒子辐射、热循环和空间碎片等是造成该环境下热控材料性能退化的主要因素。结合哈勃望远镜的维修任务及国际空间站加拿大臂Canadarm2等的相关飞行试验，介绍了低地球轨道的原子氧效应，阐述了多层隔热组件面膜在轨性能退化以及长寿命多层面膜的设计与选取。 对空间机械臂的关节、末端作用器和手眼相机进行了详细的热设计，结合机械臂的姿态和工作特点，确定了高、低温工况。对典型工况进行了分析计算，确定了各散热面尺寸及补偿加热功耗大小，低温工况时关节温度为-22℃~+23℃，末端作用器温度为-22℃~+30℃，手眼相机温度为-6℃~+3℃，满足存储温度要求。 关节内部组件功耗大、散热困难，高温工况时内部组件温度过高，对影响散热的主要参数进行热设计参数的灵敏度分析。结果表明，内热源是影响其内部温度分布的主要参数，其灵敏度变化范围为2℃~5℃。考虑极端工况出现的概率较小，优化设计后的关节温度满足设计要求。 关节、末端作用器的单机热真空试验证明了热控指标的合理性。空间机械臂结构复杂、体积大，试验周期长，试验费用昂贵，为实现对其热平衡试验平衡温度的预测，基于节点网络法建立了热平衡温度预测的迭代方程式，结合大量试验数据，对影响迭代结果的3个因素进行统计分析并确定了各因素的合理取值范围。 |
| 英文摘要 | The space robotic arm is key to the successful assembly of the Space Station, the maintenance of its external systems, astronaut Extravehicular activity support, and the servicing of ex ternal science payloads. The entire service life of the arm is along with the beginning and ending of the station life. As the fine small arm of China's space station robotic arm system, the arm was designed with longevity and complicated attitude configurations. The inner heat loads are pretty much and the working time is long, all these have raised new challenges to its thermal design. With large power consumption, thermal conductance path of the highly integrated and modular joint is very complicated. It needs more heating power to keep the opening-end effector warm under non-operating mode, because the heat leakage of the opening-end effector is badly and uneven. It’s hard to conduct the inner heat loads of hand-eye camera’s lighting component to outer space. It’s difficult to determine the analysis cases and the ground-testing cycle is long. The main content of this paper is how to use sophisticated thermal design technology to solve thermal design problems of the space robotic arm so that the in-orbit temperature can meet the requirements. The present research status of space manipulator throughout the world was summarized in this paper. Also the working characteristics and thermal design features of space manipulator were summarized. Besides, the thermal design scheme of component of typical abroad space robotic arm was described. On this basis, the structures and mode of the fine small arm of China's space station robotic arm system were analyzed. The difficulties and the keys that the thermal design faced were summarized. The Orbit of the space robotic arm is low Earth orbit. The main factors that caused the degradation of thermal control materials under LEO environmental are atomic oxygen, particle radiation, thermal cycling and space debris. According to the servicing missions of Hubble Space Telescope(HST) and related flight testing of Canadarm2, the atomic oxygen effect of Low Earth Orbit was introduced. Degradation of outer film of multi-layer insulation in LEO and design of long-lived film were described. A concrete thermal design for the joint, end-effector and hand-eye camera of the space robotic arm was carried on. The hot case and cold case conditions were determined according to the in-orbit attitude and working feature of the arm. Typical conditions were analyzed and calculated to determine the size of each radiating surface and the consumption power of supplementary heating. The results show that the joint temperature is -22℃~+23℃and the end-effector temperature is -22℃~+30℃ and the hand-eye camera temperature is -5℃~+31℃ in cold case conditions. It meets the design requirements of storage temperature. The temperature of the internal components of joint is very high in hot case conditions, because the inner power consumption of the joint is pretty much and it’s difficult to conduct the heat to outer space. Sensitivity analysis of thermal design parameter for main parameters that affect the heat radiation were developed. The results show that the heat source was the main parameter that affect its internal temperature, and the range of sensitivity variety was 2 ℃ ~ 5 ℃. The temperature of the joint that after optimized design meets the design requirements because the posibility of the worst case was less. The rationality of thermal control indicators were proved by the thermal vacuum test of single joint and end effector. With large volume and complex structure, the period of the test was long and the expensive of the test was extrotionate. In order to predict the balance temperature of thermal balance test for the space arm, the iterative equation that base on node network method for predicting the thermal balance temperature was established. Based on a large number of experimental data, a statistical analysis for three factors that influenced the results of the iteration equation was done. And a reasonable range of each factor was determined ultimately. |
| 语种 | 中文 |
| 公开日期 | 2014-08-21 |
| 源URL | [http://ir.ciomp.ac.cn/handle/181722/41462]  |
| 专题 | 长春光学精密机械与物理研究所_中科院长春光机所知识产出 |
| 推荐引用方式 GB/T 7714 | 石进峰. 空间机械臂热控制关键技术研究[D]. 中国科学院大学. 2014. |
入库方式： OAI收割
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