As large-scale spacecraft like Hubble Space Telescope need in-orbit assembly, there is an increasing need for the in-orbit assembly automatically carried out by space robots. This paper proposes a potential in-orbit screw-driving strategy carried out by a dual-arm space robot. Unlike single-arm space robots, a dual-arm space robot can avoid the translation and rotation of the target during the screw-driving process. For explanation, one arm can be set as the mission arm in the screw-driving process. The other arm can simultaneously provide the opposite contact forces and torques applied to the target. The hybrid position/force control strategy is developed for a dual-arm space robot to precisely deliver the desired contact forces by the end-effectors. Moreover, the base attitude of the space robot is controlled by reaction wheels to reduce the coupled movement between the base and the manipulators. According to a typical screw-driving procedure for automatic assembly, a desired fastening torque–angle curve is designed to ensure that the screw is firmly tightened. A robust Sliding Mode Controller (SMC) is designed to perform well against the uncertainties and disturbances applied to the space robot system. The simulation results show the feasibility of the potential dual-arm in-orbit screw-driving strategy.

由于像哈勃太空望远镜这样的大型航天器需要在轨组装，因此对空间机器人自动进行在轨组装的需求越来越大。本文提出了一种由双臂空间机器人执行的潜在在轨螺丝驱动策略。与单臂空间机器人不同的是，双臂空间机器人在拧螺丝过程中可以避免目标的平移和旋转。为了说明起见，在拧螺丝过程中，可以设置一个手臂作为任务手臂。另一个臂可以同时提供施加到目标上的相反的接触力和扭矩。为双臂空间机器人开发了混合位置/力控制策略，以通过末端执行器精确地传递所需的接触力。而且，空间机器人的底座姿态由反作用轮控制，以减少底座与机械手之间的耦合运动。根据典型的自动装配螺丝驱动程序，设计所需的紧固扭矩-角度曲线，以确保螺丝牢固拧紧。稳健的滑模控制器 (SMC) 旨在应对应用于空间机器人系统的不确定性和干扰。仿真结果表明了潜在的双臂在轨螺杆驱动策略的可行性。稳健的滑模控制器 (SMC) 旨在应对应用于空间机器人系统的不确定性和干扰。仿真结果表明了潜在的双臂在轨螺杆驱动策略的可行性。稳健的滑模控制器 (SMC) 旨在应对应用于空间机器人系统的不确定性和干扰。仿真结果表明了潜在的双臂在轨螺杆驱动策略的可行性。