空间机械臂维修性系统设计与评价体系的构建

空间机械臂维修性系统设计与评价体系的构建对机械臂维修具有非常重要的意义。结合空间机械臂维修性需求，建立了机械臂"设计-验证-设计-评价"全周期系统性的维修性设计与评价体系，根据维修性系统设计体系进行维修性设计-验证-再设计的循环管理，再根据维修性评价体系，三类评价人员模拟在轨维修操作场景分别开展维修评价，最终根据评价指标中的不合格项进行设计迭代。以机械臂中央控制器在轨维修为例验证该评价体系。研究结果将为后续空间机械臂维修性设计与评价工作提供体系借鉴和工程指导。

Maintainability system design and evaluation system construction for space manipulators

The design and evaluation of the maintainability system for space manipulators are highly significant for the manipulator maintenance. In this paper, combined with the maintainability requirements of space manipulators, the maintainability design and evaluation systems for the whole cycle of "design-verification-design-evaluation" are established. According to the maintainability design system, the cycle management of maintainability design-verification-redesign is conducted. Based on the maintainability evaluation system, three types of evaluators simulate the on-orbit maintenance operation scenarios to respectively carry out maintenance evaluation. The unqualified items in the evaluation index are then redesigned and replaced. The evaluation system is verified by simulation and experimental results with the Central Controller as an example. The research results will provide systematic reference and engineering guidance for the maintainability design and evaluation of space manipulators.