阅读说明：本技术 基于多空间机器人系统的超大型太空望远镜在轨组装方法 (On-orbit assembly method of ultra-large space telescope based on multi-space robot system ) 是由 赵京东 杨晓航 赵云鹏 杨国财 赵智远 赵亮亮 蒋再男 谢宗武 刘宏 于 2021-08-11 设计创作，主要内容包括：基于多空间机器人系统的超大型太空望远镜在轨组装方法,属于航天器在轨服务技术领域。本发明为了解决现有火箭运载能力不足以及大型空间设备维护的难度大,无法满足大型太空望远镜在轨建造与后续维护的问题。本发明将大型太空望远镜进行模块化设计,通过运载工具将望远镜组件分多次送入太空,利用七自由度空间机械臂与可再生多分支超冗余空间机器人组成的超冗余空间机器人在轨组装太空望远镜,该技术可以突破大型太空望远镜在轨建造难度大的难题,使在轨再造大型空间设备成为可能。提供了七自由度空间机械臂与可再生多分支超冗余空间机器人协同操作的方法,增强基于空间机器人的在轨装配系统的灵活性。(An on-orbit assembly method of an ultra-large space telescope based on a multi-space robot system belongs to the technical field of on-orbit service of spacecrafts. The invention aims to solve the problems that the existing rocket has insufficient carrying capacity and large difficulty in maintenance of large space equipment, and can not meet the requirements of on-orbit construction and subsequent maintenance of a large space telescope. According to the invention, the large-scale space telescope is subjected to modular design, the telescope component is sent into the space for multiple times through a delivery vehicle, and the space telescope is assembled on-track by using the super-redundant space robot consisting of the seven-degree-of-freedom space mechanical arm and the reproducible multi-branch super-redundant space robot. The method for the cooperative operation of the seven-degree-of-freedom space manipulator and the reproducible multi-branch super-redundant space robot is provided, and the flexibility of the on-orbit assembly system based on the space robot is enhanced.)

1. An on-orbit assembly method of an ultra-large space telescope based on a multi-space robot system is characterized by comprising the following steps: the method comprises the following steps:

s1, splitting a space telescope into: the main mirror part and the ultra-large space telescope assembly system are sent into a preset track through a launch vehicle;

s2, splicing the modular sub-mirrors 8 of the main mirror part into a double sub-mirror module, a three sub-mirror module, a five sub-mirror module and a six sub-mirror module in advance according to a modular design result through an ultra-large space telescope assembling system;

s3, splicing the modular sub-mirrors (8) to form a front three-circle main mirror structure;

s4, combining the seven-degree-of-freedom space manipulator (4) with the reproducible multi-branch super-redundant space robot (7) to form a new super-redundant space robot, and assembling the rest modular sub-mirrors (8);

s5, conveying the secondary mirror part into a preset track by using a carrier rocket, and assembling a secondary mirror assembly;

and S6, conveying the light blocking part into a preset track by using a carrier rocket, and assembling the light blocking part.

2. The on-orbit assembly method of the ultra-large space telescope based on the multi-space robot system as claimed in claim 1, wherein: in the S1, the ultra-large space telescope assembling system comprises a freight warehouse I (1), a rotatable spacecraft platform (2), two solar wing turning plates (3), a seven-degree-of-freedom space manipulator (4), a three-mirror module (5), an adapter (6) and a reproducible multi-branch ultra-redundant space robot (7), wherein the freight warehouse I (1) is located at the lowest end, the rotatable spacecraft platform (2) is located on the freight warehouse I (1), the rotatable spacecraft platform (2) is divided into two parts, the part fixedly connected with the freight warehouse I (1) is a fixed part, the other part is a rotatable part and has the capability of rotating relative to the fixed part, the two solar wing turning plates (3) are equidistantly installed on the fixed part of the rotatable spacecraft platform (2) along the radial direction, the seven-degree-of-freedom space manipulator (4) is located on the fixed part of the rotatable spacecraft platform (2), the seven-degree-of-freedom space manipulator (4) can grab and carry modular sub-mirrors (8) in the freight transport bin I (1) and can carry out assembly operation of the modular sub-mirrors (8), the three-mirror module (5) is located on the axis of the rotatable spacecraft platform (2) and is fixedly connected with the rotating part of the rotatable spacecraft platform (2) and rotates along with rotation of the rotating part of the rotatable spacecraft platform (2), the adapters (6) are distributed on the freight transport bin I (1) and the rotatable spacecraft platform (2), and the reproducible multi-branch super-redundant space robot (7) is mechanically and electrically connected with a cabin body through the adapters (6) and can climb between the adapters (6) to change the position of the reproducible multi-branch super-redundant space robot.

3. The on-orbit assembly method of the ultra-large space telescope based on the multi-space robot system as claimed in claim 2, wherein: in S4, the seven-degree-of-freedom space manipulator (4) is an SSRMS shoulder-elbow-wrist offset type manipulator, has seven rotational joints, and is a fixed base manipulator.

4. The on-orbit assembly method of the ultra-large space telescope based on the multi-space robot system as claimed in claim 1, wherein: the reproducible multi-branch super-redundant space robot (7) is formed by combining a plurality of branches by a joint with a standardized module interface and a passive telescopic arm rod to form a required space robot configuration, the plurality of branches are divided into a fixed arm and a working arm, and the tail end of the fixed arm is provided with an adapter connected with the surface of a spacecraft, so that the purposes of moving and fixing are achieved.

5. The on-orbit assembly method of the ultra-large space telescope based on the multi-space robot system as claimed in claim 1, wherein: the modularized sub-mirrors (8) in the S1 are connected through standardized interfaces, the modularized sub-mirrors (8) and the three-mirror module (5) are mechanically and electrically connected through the standardized interfaces, and the modularized sub-mirrors are connected with the end effector of the reproducible multi-branch super-redundant space robot (7) through the adapter (6).

6. The on-orbit assembly method of the ultra-large space telescope based on the multi-space robot system as claimed in claim 2, wherein: the step S2 is realized by the following steps:

s21, after the on-track assembly system enters a preset track, the solar wing turning plate (3) is opened, the seven-degree-of-freedom space mechanical arm (4) and the reproducible multi-branch super-redundant space robot (7) are unlocked, and a cabin door of a freight cabin I (1) provided with the modularized sub-mirror (8) is unlocked;

s22, reconstructing the reproducible multi-branch super-redundant space robot (7) into a four-branch configuration according to task requirements, wherein two branches are fixed arms, the remaining two branches are working arms, and splicing the modular sub-mirrors (8) into a preset combination form by utilizing the cooperative operation of the two working arms;

and S23, repeating S22 until all the modular sub-mirrors (8) are spliced into a double sub-mirror module, a three sub-mirror module, a five sub-mirror module or a six sub-mirror module according to the modular design result.

7. The on-orbit assembly method of the ultra-large space telescope based on the multi-space robot system as claimed in claim 2, wherein: the step S3 is realized by the following steps:

s31, rotating a rotating part of the rotatable spacecraft platform (2) to a proper position;

s32, capturing and carrying the seven-degree-of-freedom space manipulator (4) and assembling the modularized sub-mirror (8) on the rotatable spacecraft platform (2);

and S33, repeating S31 and S32 until the splicing of the primary mirror structures of the first three circles of the space telescope is completed.

8. The on-orbit assembly method of the ultra-large space telescope based on the multi-space robot system as claimed in claim 2, wherein: the reproducible multi-branch super-redundant space robot (7) in the S4 is connected with the terminal adapter of the seven-degree-of-freedom space manipulator (4) through a fixed arm, and the assembly task of the remaining modular sub-mirrors (8) is completed by utilizing the combined arm of the super-redundant space robot.

9. The on-orbit assembly method of the ultra-large space telescope based on the multi-space robot system as claimed in claim 2, wherein: the step S5 is realized by the following steps:

s51, taking out the secondary mirror bracket (9) in the second freight warehouse by using the super-redundant space robot, installing the secondary mirror bracket (9) at a preset position, and extending the secondary mirror bracket to a working state;

s52, repeating S51 until the assembly of the three secondary mirror supports (9) of the secondary mirror part is completed;

s53, the secondary mirror module (10) is taken out of the second freight warehouse by using the super-redundant space robot, a combined arm of the super-redundant space robot moves to a position near a secondary mirror bracket (9), and the reproducible multi-branch super-redundant space robot (7) is separated from the seven-degree-of-freedom space mechanical arm (4);

s54, the reproducible multi-branch super-redundant space robot (7) crawls to the installation point of the secondary mirror module (10) along the secondary mirror support (9), and the secondary mirror module is assembled by using the working arm.

10. The on-orbit assembly method of the ultra-large space telescope based on the multi-space robot system as claimed in claim 2, wherein: the step S6 is realized by the following steps:

s61, carrying the light shield (11) in the freight warehouse III to the position near an assembly point by using a super-redundant space robot for assembly, and unfolding the light shield (11);

s62, repeating the step S61 until the six light shields (11) are completely assembled.

Technical Field

The invention belongs to the technical field of on-orbit service of spacecrafts, and particularly relates to an on-orbit assembly method of an ultra-large space telescope based on a multi-space robot system.

Background

With the continuous development of space science and technology and the increasing perfection of space equipment functions, space has become a new battlefield for the strong countries of various technologies, and the demand for building large-scale space equipment with more powerful functions is urgent increasingly. The large space equipment is difficult to be directly sent into the space by the traditional integrated launching mode due to the limitation of the carrying capacity of a carrying tool, and the problem is thoroughly solved due to the appearance of the on-orbit assembly technology, so that the deployment of the large space equipment becomes possible. The on-orbit construction of the large-scale space telescope is a hot problem of international research, and compared with other large-scale space platforms, the on-orbit construction of the large-scale space telescope has the problems of high requirement on splicing precision, large splicing range span and the like. Therefore, in order to solve the problem of building a large-caliber space telescope under the existing carrying capacity, it is necessary to develop an on-orbit assembly method of an ultra-large space telescope based on a multi-space robot system.

Disclosure of Invention

The invention provides an on-orbit assembling and maintaining method of an ultra-large space telescope based on a multi-space robot system, aiming at solving the problems that the existing rocket has insufficient carrying capacity and large difficulty in maintaining large space equipment and cannot meet the requirements of on-orbit construction and subsequent maintenance of the large space telescope.

The technical scheme adopted by the invention is as follows: the on-orbit assembly method of the ultra-large space telescope based on the multi-space robot system comprises the following steps:

s1, splitting a space telescope into: the main mirror part and the ultra-large space telescope assembly system are sent into a preset track through a launch vehicle;

s2, splicing the modular sub-mirrors of the main mirror part into a double sub-mirror module, a triple sub-mirror module, a quintuple sub-mirror module and a six sub-mirror module in advance according to a modular design result through an ultra-large space telescope assembling system;

s3, splicing the modular sub-mirrors into a front three-circle main mirror structure;

s4, combining the seven-degree-of-freedom space manipulator and the reproducible multi-branch super-redundant space robot to form a new super-redundant space robot, and assembling the remaining modular sub-mirrors;

s5, conveying the secondary mirror part into a preset track by using a carrier rocket, and assembling a secondary mirror assembly;

and S6, conveying the light blocking part into a preset track by using a carrier rocket, and assembling the light blocking part.

The invention has the beneficial effects that:

1. according to the invention, the large-scale space telescope is subjected to modular design, the telescope component is sent into the space for multiple times through a delivery vehicle, and the space telescope is assembled on-track by using the super-redundant space robot consisting of the seven-degree-of-freedom space mechanical arm and the reproducible multi-branch super-redundant space robot.

2. The invention provides a method for cooperatively operating a seven-degree-of-freedom space manipulator and a reproducible multi-branch super-redundant space robot, which enhances the flexibility of an on-orbit assembly system based on the space robot and technically stores large-scale equipment in an on-orbit assembly space.

Drawings

FIG. 1 is a schematic diagram of an in-orbit assembly system for a very large space telescope according to the present invention;

FIG. 2 is a schematic view of the assembling sequence of the modular sub-mirrors of the main mirror part of the ultra-large space telescope;

FIG. 3 is a schematic diagram of a three-branch configuration of a reproducible multi-branch super-redundant space robot according to the present invention;

FIG. 4 is a schematic diagram of a four-branch configuration of a reproducible multi-branch super-redundant space robot according to the present invention;

FIG. 5 is a schematic diagram of the super-large space telescope primary mirror system of the present invention after assembly;

wherein: 1. a freight transport bin I; 2. a rotatable spacecraft platform; 3. a solar wing panel turnover; 4. a seven-degree-of-freedom space manipulator; 5. a three-mirror module; 6. an adapter; 7. a reproducible multi-branch super-redundant space robot; 8. a modular sub-mirror; 9. a secondary mirror support; 10. a secondary mirror module; 11. a light shield.

Detailed Description

The first embodiment is as follows: the embodiment is described by referring to fig. 1 to 5, and provides an on-orbit assembly method of a super-large space telescope based on a multi-space robot system, which is realized by the following steps:

s1, splitting a space telescope into: the main mirror part and the ultra-large space telescope assembly system are sent into a preset track through a launch vehicle;

the method specifically comprises the following steps: the main mirror part is formed by splicing modular sub-mirrors 8 around a three-mirror module 5, the secondary mirror part is formed by splicing a secondary mirror support 9 and a secondary mirror module 10, the light blocking part is formed by splicing a light shield 11, and a freight cabin I1 provided with the modular sub-mirrors 8, a rotatable spacecraft platform 2, the three-mirror module 5, a seven-degree-of-freedom space mechanical arm 4, a solar wing turning plate 3 and a reproducible multi-branch super-redundant space robot 7 are conveyed into a preset orbit through a carrier rocket;

s2, splicing the modular sub-mirrors 8 of the main mirror part into a double sub-mirror module, a three sub-mirror module, a five sub-mirror module and a six sub-mirror module in advance according to a modular design result through an ultra-large space telescope assembling system; as shown in figure 2 of the drawings, in which,

the method specifically comprises the following steps: splicing the modularized sub-mirrors 8 in the freight transport bin I1 into a double sub-mirror module, a three sub-mirror module, a five sub-mirror module and a six sub-mirror module in advance according to a modularized design result through a reproducible multi-branch super-redundant space robot 7;

after the reproducible multi-branch super-redundant space robot 7 is unlocked, a joint with a standardized module interface and a passive telescopic arm rod are connected to form a four-branch structure, wherein two branches are used as fixed arms and connected with the adapter 6, the function of climbing between the adapters 6 can be completed by utilizing the two fixed arms, and the rest two branches are used as working arms and can be used for grabbing, carrying and assembling the modularized sub-mirror.

S3, splicing the modular sub-mirrors 8 into a front three-circle main mirror structure;

the method specifically comprises the following steps: and grabbing the preassembled binoculars, trioscopes, pentascopes or hexascope modules by using the seven-degree-of-freedom space manipulator 4, and carrying the modules to the vicinity of the assembly point of the rotatable spacecraft platform 2 for assembly operation.

S4, combining the seven-degree-of-freedom space manipulator 4 with the reproducible multi-branch super-redundant space robot 7 to form a new super-redundant space robot, and assembling the remaining modular sub-mirrors 8 at the main mirror part of the space telescope;

the reproducible multi-branch super-redundant space robot 7 is in a three-branch structure, wherein one branch is a fixed arm, and the remaining two branches are working arms;

after the reproducible multi-branch super-redundant space robot 7 and the seven-degree-of-freedom space manipulator 4 form the super-redundant space robot to complete a modular sub-mirror 8 assembly task, the rotatable part of the rotatable spacecraft platform 2 drives the telescope main mirror part to rotate, and the next assembly position is adjusted;

s5, conveying the secondary mirror part into a preset track by using a carrier rocket, and assembling a secondary mirror assembly;

the method specifically comprises the following steps: the freight transport bin I1 provided with the modularized sub-mirror 8 is separated from the rotatable spacecraft platform 2, a freight transport bin II provided with a secondary mirror assembly is sent into a preset orbit by using a carrier rocket and is fixedly connected with the rotatable spacecraft platform 2, and the secondary mirror assembly in the freight transport bin II is sequentially assembled by using the cooperative operation of the seven-degree-of-freedom space mechanical arm 4 and the reproducible multi-branch super-redundant space robot 7;

the reproducible multi-branch super-redundant space robot 7 is in a three-branch configuration at the assembly stage of the secondary mirror bracket 9, wherein one branch is a fixed arm, the remaining two branches are working arms, and is in a four-branch configuration at the assembly stage of the secondary mirror module 10, wherein two branches are fixed arms, and the remaining two branches are working arms.

And S6, conveying the light blocking part into a preset track by using a carrier rocket, and assembling the light blocking part.

The method specifically comprises the following steps: the second freight cabin provided with the secondary mirror assembly is separated from the rotatable spacecraft platform 2, the third freight cabin provided with the light blocking part is sent into a preset orbit by using a carrier rocket and is fixedly connected with the rotatable spacecraft platform 2, and the seven-degree-of-freedom space mechanical arm 4 and the reproducible multi-branch super-redundant space robot 7 are combined to form a new super-redundant space robot to sequentially assemble the light shield 11.

Second embodiment, the present embodiment will be described with reference to fig. 1 to 5, and the present embodiment is further limited to the first step described in the first embodiment, and in the present embodiment,

in the embodiment, the ultra-large space telescope assembling system comprises a freight cabin I1, a rotatable spacecraft platform 2, two solar wing turning plates 3, a seven-degree-of-freedom space manipulator 4, a three-mirror module 5, an adapter 6 and a reproducible multi-branch ultra-redundant space robot 7, wherein the freight cabin I1 is positioned at the lowest end, the rotatable spacecraft platform 2 is positioned on the freight cabin I1, the rotatable spacecraft platform 2 is mainly divided into two parts, one part fixedly connected with the freight cabin I1 is a fixed part, the other part is a rotatable part and has the capability of rotating relative to the fixed part, the two solar wing turning plates 3 are arranged on the fixed part of the rotatable spacecraft platform 2 along the radial direction at equal intervals, the seven-degree-of-freedom space manipulator 4 is positioned on the fixed part of the rotatable spacecraft platform 2, and the seven-degree-of-freedom space manipulator 4 can grab a modularized sub-mirror 8 in the freight cabin I1, the assembling operation of the modular sub-mirror 8 can be carried out, the three-mirror module 5 is positioned on the axis of the rotatable spacecraft platform 2 and fixedly connected with the rotating part of the rotatable spacecraft platform 2 and rotates along with the rotation of the rotating part of the rotatable spacecraft platform 2, the adapters 6 are distributed on the freight transport bin I1 and the rotatable spacecraft platform 2, and the reproducible multi-branch super-redundant space robot 7 is mechanically and electrically connected with the cabin body through the adapters 6 and can climb between the adapters 6 to change the position of the reproducible multi-branch super-redundant space robot.

In the third embodiment, the seven-degree-of-freedom space manipulator 4 of the second embodiment is further limited, in the third embodiment, the seven-degree-of-freedom space manipulator 4 is an SSRMS shoulder-elbow-wrist offset type manipulator, has seven rotary joints and is a fixed base manipulator, the working space of the fixed base manipulator is fixed, the aperture of the main mirror part of the large-aperture space telescope is large, the assembly range is large, and a single fixed base seven-degree-of-freedom space manipulator 4 cannot complete the assembly task of the large-aperture space telescope, so that the reproducible multi-branch super-redundant space robot 7 and the seven-degree-of-freedom space manipulator 4 form a multi-space robot system and are matched with the rotatable spacecraft platform 2. Other components and connection modes are the same as those of the second embodiment;

in the fourth embodiment, the present embodiment is described with reference to fig. 4 to 5, and the present embodiment further defines the reproducible multi-branch super-redundant space robot 7 of the second embodiment, and in the present embodiment,

the reproducible multi-branch super-redundant space robot 7 is a variable-configuration space robot, the number of branches per se can be changed according to task requirements, three-branch and four-branch configurations are common, and each branch can combine a large number of joints with standardized module interfaces and passive telescopic arm levers according to the task requirements, so that a reproducible robot system can complete the maintenance task of a large-caliber space telescope in a space complex environment.

In the embodiment, the number of branches and the module composition required by the reproducible multi-branch super-redundant space robot 7 are determined by comprehensively processing the analysis of the target task and the environmental information acquired by the sensor. The basic confirmation principle of the branch number of the reproducible multi-branch super-redundant space robot 7 is as follows: renewable multi-branch super-redundant space robot 7 branches are divided into a fixed arm and a working arm, the tail end of the fixed arm is provided with an adapter connected with the surface of a spacecraft, the purposes of moving and fixing are achieved, when the renewable multi-branch super-redundant space robot 7 does not need to move the position of the robot on a large scale, only one fixed arm is needed to be fixed with a cabin body, when the renewable multi-branch super-redundant space robot 7 needs to operate on a large scale, two branches are needed to serve as the fixed arm, and the transfer of the renewable multi-branch super-redundant space robot 7 is completed through the cooperative operation of the two fixed arms. And determining the branch number of the working arm of the reproducible multi-branch super-redundant space robot 7 according to the task requirement, wherein the working arm needs to complete the module carrying and operating tasks. When the modular sub-mirror 8 is small in mass, a module carrying task can be completed by one branch; when the mass of the modular sub-mirror 8 to be operated is large, in order to ensure that the moment of the working arm joint does not exceed the rated design limit, the two branches are required to be cooperatively carried to improve the load operation capacity of the robot system, a closed-chain system is formed between the two branches, and the two branches in cooperative operation are required to be controlled by a double-arm tight coordination strategy. And then determining the number of branches required for completing the operation task according to the requirement of the operation task. The number of each branch degree of freedom of the reproducible multi-branch super-redundant space robot 7 is determined according to the operation task and the environment information acquired by the vision sensor, the more complex the environment and the executed task are, the more the number of the degree of freedom of each branch is, and the robot system can complete additional tasks such as obstacle avoidance through the redundant degrees of freedom.

In the present embodiment, the reproducible multi-branch super-redundant space robot 7 autonomously changes its configuration in the space environment according to the task requirements. The reproducible multi-branch super-redundant space robot 7 system mainly comprises a rotary joint and a passive telescopic arm rod, and the passive telescopic arm rod can greatly increase the operation space of the robot system. The matching surfaces of the modules are mutually contacted, so that mechanical and electrical locking can be completed, and the purpose of changing the configuration is achieved.

In a fifth embodiment, the present embodiment is described with reference to fig. 1 to 5, which further defines S1 described in the first embodiment, in the present embodiment, the modular sub-mirror 8 in S1 is composed of a standardized interface, a target adapter, an active optical adjustment mechanism, and a sub-mirror body, wherein the modular sub-mirrors 8, the modular sub-mirror 8, and the three-mirror module 5 are mechanically and electrically connected through the standardized interface, and the standardized interface should have a reliable unlocking capability. Other components and connection modes are the same as those of the first embodiment;

sixth embodiment, the present embodiment is described with reference to fig. 1 to 5, and is further limited to S2, and is implemented by the following steps:

s21, after the on-track assembly system enters a preset track, the solar wing turning plate 3 is opened, the seven-degree-of-freedom space mechanical arm 4 and the reproducible multi-branch super-redundant space robot 7 are unlocked, and the compartment door of the freight transport compartment I1 provided with the modularized sub-mirror 8 is unlocked;

s22, according to task requirements, the reproducible multi-branch super-redundant space robot 7 is reconstructed into a four-branch configuration, wherein two branches are fixed arms, the remaining two branches are working arms, and the modular sub-mirrors 8 are spliced into a preset combination form by utilizing the cooperative operation of the two working arms;

and S23, repeating S22 until all the modular sub-mirrors 8 are spliced into a double sub-mirror module, a three sub-mirror module, a five sub-mirror module or a six sub-mirror module according to the modular design result.

Seventh embodiment, the present embodiment is described with reference to fig. 1 to 5, and the present embodiment further limits S3, and is implemented by the following steps:

s31, rotating a rotating part of the rotatable spacecraft platform 2 to a proper position;

s32, capturing and carrying the seven-degree-of-freedom space manipulator 4 and assembling the modularized sub-mirror 8 on the rotatable spacecraft platform 2;

and S33, repeating S31 and S32 until the splicing of the primary mirror structures of the first three circles of the space telescope is completed.

In the eighth embodiment, the present embodiment is described with reference to fig. 1 to 5, and is further limited to S4, and in the present embodiment, the reproducible multi-branch super-redundant space robot 7 is connected to the end adaptor of the seven-degree-of-freedom space manipulator 4 via a fixed arm, and the task of assembling the remaining modular sub-mirrors 8 is completed by the combined arm of the super-redundant space robot.

In a ninth embodiment, the present embodiment is described with reference to fig. 1 to 5, and the present embodiment further defines S5, and is implemented by the following steps:

s51, taking out the secondary mirror bracket 9 in the second freight warehouse by using the super-redundant space robot, installing the secondary mirror bracket 9 at a preset position, and extending the secondary mirror bracket 9 to a working state;

s52, repeating S51 until the assembly of the three secondary mirror supports 9 of the secondary mirror part is completed;

s53, the secondary mirror module 10 is taken out of the second freight warehouse by using the super-redundant space robot, a combined arm of the super-redundant space robot moves to the position near the secondary mirror bracket 9, and the reproducible multi-branch super-redundant space robot 7 is separated from the seven-degree-of-freedom space mechanical arm 4;

s54, the reproducible multi-branch super-redundant space robot 7 crawls to the installation point of the secondary mirror module 10 along the secondary mirror support 9, and the secondary mirror module is assembled by using the working arm.

A tenth embodiment will be described with reference to fig. 1 to 5, and this embodiment further defines S6, and is implemented by the following steps:

s61, carrying the light shield 11 in the freight warehouse III to the position near an assembly point by using a super-redundant space robot for assembly, and unfolding the light shield 11;

and S62, repeating the step S61 until the six light shields 11 are completely assembled.

It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.