GB/T 47446-2026Interface requirements for objects operated by a space station manipulator (English PDF)

4.1 Configuration

The space station is equipped with one large robotic arm, one small robotic arm, and several corresponding target adapters. The large and small robotic arms... They can also be cascaded to form a combination arm.

4.2 Functions

The space station's robotic arm can perform tasks such as repositioning of visiting spacecraft modules, hovering and capturing of spacecraft and assisting in docking, handling of extravehicular cargo, and handling of large extravehicular objects.

Maintenance and repair of large equipment, payload care, release of small spacecraft, support for astronauts' extravehicular activities, and inspection of the extravehicular status of the space station and docked spacecraft.

These tasks enable large-load, wide-range transfer, hovering capture, high-precision load handling and manipulation, surface crawling in the work area, and multi-degree-of-freedom motion.

It features multi-mode control and operation, low-impact high-rigidity end-effector grasping, path planning, visual measurement, and the ability to secure astronauts and cargo.

5.Requirements for the selection of the target adapter and the type of the operation object interface

This document describes the configuration and functions of the space station's robotic arm, specifying the interface categories of the manipulated objects and the requirements for selecting target adapters, as well as the operation... Requirements for the target and object adapter interface, requirements for the interface supporting astronaut extravehicular activities, and interface verification requirements.

This document applies to the interface design of objects manipulated by a space station robotic arm, and the interface of the robotic arm when it is used to support astronauts' extravehicular activities. Require.

5.1 Interface Categories

The interfaces for manipulating objects on the space station robotic arm fall into two main categories. target adapters and interfaces that support astronauts' extravehicular activities.

a) The target adapter is installed on both the space station robotic arm and the manipulated object. The space station robotic arm uses the target adapter to control the object. Perform operations on objects. The target adapter includes.

1) Large robotic arm target adapters. fixed target adapters, mechanical target adapters, and folding target adapters;

2) Small robotic arm target adapters. Target Adapter Type I, Target Adapter Type II, Target Adapter Type III.

b) Interface supporting astronaut extravehicular activities. When the space station robotic arm supports astronaut extravehicular activities, it can be accessed via interfaces installed on the space station robotic arm.

The foot limiter of the end effector interface stands at the end of the robotic arm to complete the relevant tasks.

5.2 Requirements for Selecting the Target Adapter

The robotic arm on the space station can operate on a variety of objects, including visiting spacecraft, large equipment, payloads, and small spacecraft. The operation should be tailored to the specific characteristics of each object.

Based on requirements such as quantity and operating range, select a matching target adapter and ensure that the corresponding target adapter interface requirements are met. The operating object and the target adapter... The relationships between them are shown in Table 1. 6.Interface requirements between the operation object and the target adapter

6.1 Fixed Target Adapter

6.1.1 Mechanical Interface Requirements

6.1.1.1 Dimensional Envelope Requirements

The envelope size of the fixed target adapter is Phi615mm×403.5mm, as shown in Figure 1. Sufficient layout space should be left on the operating object.

6.1.1.2 Installation Interface Requirements

The installation interface requirements are as follows.

a) Provide an annular mounting surface with an outer diameter not exceeding Phi426mm and a pitch circle of Phi400mm (as shown in Figure 2), with the following components distributed on the pitch circle.

20 M6 threaded holes, hole depth not less than 14mm, thread depth not less than 10mm, thread hole positional tolerance not greater than [missing value].

Phi0.1mm. In addition, an alignment mark is also installed on the mounting ring, with the mark base at the same height as the bottom surface of the ring.

b) The flatness of the mounting surface is no greater than 0.1 mm/(100 mm × 100 mm), and the roughness is better than Ra1.6.

6.1.1.3 Operating Space Envelope Requirements

The object being operated on should provide operating space for the robotic arm, and there should be no interfering devices within the envelope of this operating space. The operating space for a large robotic arm should be... With the fixed target adapter axis as the center, the envelope diagram is shown in Figure 3. Specific requirements are as follows.

a) The operating space envelope from the mounting surface of the target adapter of the large robotic arm to a height of 160mm is Phi900mm;

b) The robotic arm's operating space envelope is Phi1000mm from a height of 160mm above the mounting surface and at least 450mm above the mounting surface.

6.1.1.4 Maintenance Envelope Requirements

For fixed target adapters, on-orbit maintenance should be performed by replacing the entire adapter, ensuring that the fixed target adapter is facing upwards from the mounting surface.

Minimum maintenance operating space within a height range of 450mm (as shown in Figure 4), and four expansion bolt operating holes for the fixed target adapter.

The mounting should meet the requirements of vertical drop envelope for maintenance tools, insertion envelope along expansion bolt holes, and rotation envelope for maintenance tools, and should also allow for... Operating space for JYH electrical connectors. If calculated based on a cylindrical envelope, a space of not less than Phi980mm×450mm should be reserved.

6.1.1.5 Grounding Requirements

6.1.1.5.1 A grounding stake (as shown in Figure 5) shall be installed on the fixed target adapter mounting ring near the -Z axis side for connection with the cabin or carrier. Grounding is used for loads and other operating objects.

6.1.1.5.2 A Phi10mm contact surface should be reserved with the center of the grounding terminal hole as the center, and the conductivity of the contact surface should be ensured.

6.1.1.5.3 The overlap resistance between the fixed target adapter mounting ring and the operating object shall not exceed 10mohm.

6.1.1.6 Bearing capacity requirements

The object being operated on should be able to withstand the structural strength requirements during the operation of the robotic arm, specifically as follows.

a) When the mass of the object being operated is less than 15000 kg, it can withstand a maximum support reaction moment of not less than 1800 N·m;

b) When the mass of the object being operated is between 15,000 kg and 25,000 kg, it can withstand a maximum support reaction moment of not less than 2,200 N·m.

6.1.1.7 Other requirements

For operations requiring large robotic arms to inspect the cabin, the appropriate number of fixed components should be configured based on the cabin size and the robotic arm's inspection configuration. Fixed target adapter.

6.1.2 Power Supply Interface Requirements

6.1.2.1 Power supply interface for the robotic arm to the object to be crawled

The target object provides four 100V power interfaces to the large robotic arm via a fixed target adapter (if the task does not involve a dual-arm combination, then...).

(A fourth 100V power supply is not required) and a 28V command bus interface, wherein.

a) The large robotic arm's 100V power supply interface uses an extravehicular astronaut-operable universal electrical connector (number X8), and the 28V command bus is connected to... The port uses a universal electrical connector (X7) that can be operated by an extravehicular astronaut.

b) The power supply voltage provided to the operating object should meet the relevant requirements. Each 100V power supply has a capacity of 1000W, and the 28V command bus provides power.

The electrical capacity is no more than 50W, and its contact definition is shown in Table 2.

6.1.2.2 Power supply interface for the robotic arm to operate on objects that do not require crawling The large robotic arm provides a 100V, 1000W power supply interface to the manipulated object through the robotic arm target adapter.

The voltage meets relevant requirements, and an extravehicular astronaut-operable universal electrical connector (number X8) is used, utilizing eight contacts from numbers 38 to 45. The contact definition is shown in Table 2.

6.1.3 Information Interface Requirements

The manipulated object provides the large robotic arm with an ON/OFF command interface, a telemetry acquisition interface, and a 1553B bus via a fixed target adapter. Interface, Ethernet interface, including.

a) The ON/OFF command interface uses an extravehicular astronaut-operable universal electrical connector (number X7), and its contact definitions are shown in Table 3;

b) The telemetry acquisition interface uses an extravehicular astronaut-operable universal electrical connector (number X5) and an electrical connector (number X6), whose contacts... Definitions are shown in Table 4;

c) The 1553B bus interface uses an extravehicular astronaut-operable universal electrical connector (number X5) and an electrical connector (number X6), whose connection... Point definitions are shown in Table 5;

d) The Ethernet interface uses an extravehicular astronaut-operable universal electrical connector (number X4H), and its contact definition is shown in Table 6.

6.1.4 Thermal Interface Requirements

The operating object should be designed with a reasonable contact installation method and temperature control measures to ensure that the operating temperature of the fixed target adapter is within -50°C. 75°C.

6.1.5 Visual Interface Requirements

The visual interface requirements for the manipulated object are as follows.

a) The target object operated by the large robotic arm should be equipped with a target adapter visual marker, as shown in Figure 6. The visual marker surface is sprayed with... The coating is available in black and white. The black area has an absorption rate of no less than 95% in the visible spectrum (450nm~760nm), while the white area has an absorption rate of no less than 95% in the visible light spectrum.

The reflectivity of the spectrum (450nm~760nm) is not less than 80%; the schematic diagram of the installation position of the visual marker of the target adapter of the large robotic arm is shown in Figure 7. As shown.

6.2 Mechanical Target Adapter

6.2.1 Mechanical Interface Requirements

6.2.1.1 Dimensional envelope requirements

The mechanical target adapter has an envelope size of Phi615mm × 403.5mm, as shown in Figure 8. Sufficient space should be provided on the operating object. space.

6.3 Foldable Target Adapter

6.3.1 Mechanical Interface Requirements

6.3.1.1 Dimensional envelope requirements

The foldable target adapter has a size envelope of Phi615mm × 203.7mm, as shown in Figure 9. Sufficient space should be left on the operating object.

Layout space. After the orbital is deployed, the envelope is the same as that of the fixed target adapter, which is Phi615mm×403.5mm.

6.3.1.2 Installation Interface Requirements

Same as 6.1.1.2.

6.3.1.3 Operating Space Envelope Requirements

Same as 6.1.1.3.

6.3.1.4 Maintenance envelope requirements

Same as 6.1.1.4.

6.3.1.5 Grounding Requirements

Same as 6.1.1.5.

6.3.1.6 Bearing capacity requirements

Same as 6.1.1.6.

6.3.1.7 Other requirements

Same as 6.1.1.7.

6.3.2 Power Supply Interface Requirements

6.3.2.1 Power supply interface for the robotic arm to the object to be crawled 6.3.2.1.1 The power supply interface for the large robotic arm is a 100V power supply interface and a 28V command bus interface. For specific requirements, please refer to 6.1.2.1a).

6.3.2.1.2 The object to be operated should be connected to the pyrotechnic switch of the foldable target adapter via an extravehicular astronaut-operable universal electrical connector (number X8).

The cutter is powered by a nominal voltage of 27V, and its contact definitions are shown in Table 7.

6.3.2.2 Power supply interface for the robotic arm to operate on objects that do not require crawling Same as 6.1.2.2.

6.3.3 Information Interface Requirements

The target object should provide the large robotic arm with an ON/OFF command interface, a telemetry acquisition interface, and a 1553B total interface via a foldable target adapter.

Wired interface and Ethernet interface, specific requirements are detailed in 6.1.3. For foldable target adapters, it should also include telemetry of the folding rod's unfolded state, and its interface... The definition of the port connection point is shown in Table 8.

6.5 Target Adapter Type II

6.5.1 Mechanical Interface Requirements

6.5.1.1 Dimensional Envelope Requirements

The target adapter type II has dimensions of 260mm × 318mm × 162mm, as shown in Figure 19. Sufficient space should be left on the operating object. The layout space.

6.5.1.2 Installation Interface Requirements

The workpiece should provide a ring surface with a pitch circle of Phi175mm and six M5 threaded holes, with an effective thread depth of not less than [missing information].

10mm, thread hole position tolerance not greater than Phi0.1mm, interface as shown in Figure 20. Target adapter type II mounting surface flatness not greater than... 0.1mm/(100mm×100mm), with a surface roughness better than Ra1.6.

6.5.1.3 Operating Space Envelope Requirements

Same as 6.4.1.3.

6.5.1.4 Maintenance envelope requirements

The operating object should provide a maintenance operating space for the target adapter type II, and the maintenance envelope size is shown in Figure 21.

a) Front view b) Left view

6.5.1.5 Grounding Requirements

The mounting surface of the target adapter (Type II) should be conductively treated to ensure that the lap resistance between the operated object and the target adapter does not exceed a certain value.

10mohm. The 69th contact of connector X2 (Type II) of the target adapter is the structural ground; the corresponding connector contact of the operating object should be located nearby. Connected to the structure.

6.5.1.6 Bearing capacity requirements

The maximum support reaction moment of the object mounting structure during robotic arm operation shall not be less than 100 N·m.

6.5.1.7 Other requirements

When a small robotic arm needs to mount a load, the target adapter type II and the load should be matched according to the size of the load envelope and the load mounting direction.

The relative installation position and orientation between the active ends of the device.

6.5.2 Power Supply Interface Requirements

The manipulated object receives a single primary power supply (100V/100W) from the small robotic arm via the target adapter type II. The small robotic arm is not operating.

The maximum power supply during operation shall not exceed 200W. The operating voltage range is 95V~110V, and the safe voltage range is 80V~120V.

The voltage meets the relevant requirements. An extravehicular astronaut-operable universal electrical connector (number X2) is used, and its contact definitions are shown in Table 14.

6.5.3 Information Interface Requirements

The manipulated object obtains two 1553B bus interfaces provided by the small robotic arm through the target adapter type II. The manipulated object is the 1553B bus.

The terminal and the object being operated on do not have 1553B bus termination resistors set, where.

a) One 1553B bus interface is provided to the active end of the load adapter, assigned terminal address 29, and used to transmit load adapter control commands. and telemetry data;

b) A 1553B bus interface is provided to the object being operated, and a terminal address of 30 is assigned to transmit important data during the operation of the robotic arm. Payload telemetry data and commands;

c) The 1553B bus interface uses an extravehicular astronaut-operable universal electrical connector (number X2), the contact definitions of which are shown in Table 15, and the interface symbol... Meets relevant requirements.

6.5.4 Thermal Interface Requirements

The target adapter type II should be installed with thermal insulation between it and the operating object, and the operating object should ensure that the temperature of the mounting surface of the target adapter type II is maintained. Temperatures range from -30°C to 50°C.

6.5.5 Visual Interface Requirements

The visual interface requirements are as follows.

a) The target object should be equipped with a target adapter visual marker. A schematic diagram of the target adapter type II target pattern is shown in Figure 22.

Figure 23 shows the relationship between the Type II visual marker and the target. The surface of the visual marker is coated with both black and white layers;

The absorbance in the visible spectrum (450nm~760nm) is not less than 95%, and the reflectance in the visible spectrum (450nm~760nm) in the white region is... The emissivity is not less than 80%.

b) When installing the target adapter visual marker on the object operated by the small robotic arm, ensure that the axis of the central protruding column of the visual marker is aligned with the axis of the small robotic arm.

The optical axis deviation of the camera lens corresponding to the robotic arm vision measurement camera is no greater than 0.5mm (when the robotic arm grasps the target adapter), with the target... With the column axis as the center, within a radius of 800mm, there should be no similar targets or mirror-reflective objects, and the surfaces of the cabin and load should be... Diffuse reflection treatment is applied, and the diffuse reflection coefficient is not less than 0.7.

c) If the envelope of the object being operated on is large (envelope exceeding 600mm × 600mm × 500mm, where the 500mm direction is the direction of the object being operated on)

(Installation direction) During installation, if the camera's field of view at the end of the small robotic arm is blocked, a camera should be positioned at the front of the object being operated on (the optical axis should be aligned with the camera).

(Pointing to the installation point), providing the small robotic arm with image information of the installation point, which the small robotic arm receives through the target adapter type II.

The camera's power supply is provided by a small robotic arm, and power and image information are transmitted via a target adapter (Type II). X2 connector interaction.

1) The small robotic arm provides one LVDS interface (two copies, primary and backup, with cold backup) for transmitting visual measurements.

The camera's images, the LVDS interface uses an extravehicular astronaut-operable universal electrical connector (number X2), its connection... Point definitions are shown in Table 16;

2) The visual measurement camera installed on the target object measures the pose relative to the camera target. No image processing circuitry is required.

The measured images are transmitted to the end-effector camera controller of the robotic arm via the LVDS interface for image processing.

3) Different target types should be used for different load types, and the camera target and the main axis of the vision measurement camera should be... The target of the payload camera is shown in Figure 24, and the size of the payload camera target is shown in Figure 25. […]

6.5.6 Power Output Interface Requirements

The end effector of the small robotic arm is equipped with a power output interface. The power torque output interface uses a standard hex socket joint, along the power output... The shaft can provide a torque of no more than 10 N·m in the axial direction, with a rated speed of 4 r/min, and supports the use of end tools for task docking. The power output interface requirements are as follows.

a) When the object being operated uses the power output interface of the small robotic arm, the object should be equipped with a rotating spindle, and the rotating spindle should be connected to the small robotic arm.

The upper surface of the Type II arm target adapter is flush with the top surface, and the diameter of the rotating spindle is 200-0.1mm;

b) The power input drive spindle configured for the operating object should use a standard external hexagonal bolt head interface, with the bolt head distance across the flats being... 16 0-0.1m, bolt head length not less than 5mm.

6.6 Target Adapter Type III

6.6.1 Mechanical Interface Requirements

6.6.1.1 Dimensional Envelope Requirements

Same as 6.4.1.1.

6.6.1.2 Installation Interface Requirements

Same as 6.4.1.2.

6.6.1.3 Operating Space Envelope Requirements

Same as 6.4.1.3.

6.6.1.4 Maintenance envelope requirements

Same as 6.4.1.4.

6.6.1.5 Grounding Requirements

Same as 6.4.1.5.

6.6.1.6 Load-bearing capacity requirements

Same as 6.4.1.6.

6.6.1.7 Other requirements

Same as 6.4.1.7.

6.6.2 Power Supply Interface Requirements

Same as 6.5.2.

6.6.3 Information Interface Requirements

Same as 6.5.3.

6.6.4 Thermal Interface Requirements

Same as 6.4.4.

6.6.5 Visual Interface Requirements

Same as 6.4.5.

6.6.6 Power Output Interface Requirements

Same as 6.5.6. 7.Interface requirements for supporting astronaut extravehicular activities

7.1 Robotic Arm End-of-Arm Control Interface

The astronaut should insert the foot restraints into the end effector of the robotic arm to provide support for the astronaut's connection. (Foot restraint base at the end effector of the robotic arm)

The interface dimensions are shown in Figure 26. The interface diameter is Phi50mm and the depth is 50mm; there is a slot on the top and bottom, with a width of 10.2mm and a length of... 10mm diameter, 8.2mm depth, standard tolerance; surface roughness 1.6.A schematic diagram of the interface dimensions of the robotic arm end effector's foot limiter base is shown below.

7.2 Visual Interface

The visual interface requirements are as follows.

a) The large robotic arm provides a visual measurement camera with an observation range of 0.3m to 10m and a field of view of 68°×41°, providing high-definition color video.

The stream uses the H.264 digital video encoding standard (image resolution 1920 x 10^80, frame rate 25Hz) and is transmitted via 100Mbps Ethernet.

The bus enables real-time, high-speed transmission of color-coded images for use by astronauts and on the ground.

b) The small robotic arm provides a visual measurement camera with an observation range of 0.19m to 5m and a field of view of 50° × 28°, providing high-definition color video.

The stream uses the H.264 digital video encoding standard (image resolution 1920 x 10^80, frame rate 25Hz) and is transmitted via 100Mbps Ethernet.

The bus enables real-time, high-speed transmission of color-coded images for use by astronauts and on the ground.