Quantitative assessment of extravehicular maintenance operation time for astronauts
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摘要:
航天员舱外维修操作是维持空间站在太空环境中安全运行的必要措施，量化评估维修操作时间是确保舱外活动任务成功和航天员安全的基础。基于此，提出一种航天员舱外维修操作时间量化评估方法，用于设计和分析航天员舱外活动操作时间，以满足航天员出舱时间的要求。该方法考虑微重力环境的影响，运用模特（MOD）法对已有数据中的关节基准动作时间进行修正，采用最小二乘法对已有数据进行拟合得到关节基准动作时间的不确定性范围。针对不同航天员、不同舱外任务的工况，与公开的舱外活动视频进行对比分析，验证了所提方法的准确性，为航天员舱外维修操作所需时间提供一种可行的依据。
Abstract:For space stations to operate safely in the space environment, astronauts' extravehicular maintenance tasks are essential. Therefore, it is essential to quantitatively assess the time required for these operations to ensure the success of extravehicular activities and the safety of astronauts. In this study, we present a quantitative technique for evaluating astronaut operational time during extravehicular maintenance activities, with the goal of designing and analyzing the duration of astronaut extravehicular operations to fulfill extravehicular time requirements. The proposed method takes into consideration the influence of the microgravity environment and the reference motion time of the joint in the literature data, which was modified by the modular arrangement of predetermined time standard (MOD) method, and the uncertainty range of the reference motion time of the joint was obtained by fitting the literature data with the least square method. For the working conditions of different astronauts and different extravehicular tasks, a comparative analysis with publicly available videos of extravehicular activities was conducted to verify the accuracy of the assessment method and provide a feasible basis for the time required for astronauts' extravehicular maintenance operations.
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图 3 航天员舱外维修操作时间的量化评估流程图
Figure 3. Framework for quantitative assessment of extravehicular maintenance operation time for astronauts
图 4 案例1公开舱外视频片段截图
Figure 4. Public extravehicular video segments screenshots of case 1
图 5 案例2公开舱外视频片段截图
Figure 5. Public extravehicular video segments screenshots of case 2
图 8 案例3公开舱外视频片段截图
Figure 8. Public extravehicular video segments screenshots of case 3
图 10 案例4公开舱外视频片段截图
Figure 10. Public extravehicular video segments screenshots of case 4
基本动作 动作描述 MOD值 移动动作 手指动作M1 1 腕关节动作M2 2 肘关节动作M3 3 肩关节动作M4 4 伸直手臂动作M5 5 终结动作 触摸动作G0 0 简单抓取动作G1 1 复杂抓取动作G3 3 简单放置动作P0 0 较复杂放置动作P2 2 复杂放置动作P5 5 其他动作 走步动作W5 5 起身坐下动作S30 30 目视动作E2 2 校正动作R2 2 判断动作D3 3 加压动作A4 4 旋转动作C4 4 
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部位 活动角度 活动角度范围/(°) 指关节 屈曲θKQ1 0～ 90 伸展θKQ2 0～15 腕关节 掌曲θWQ1 0～80 背伸θWQ2 0～30 桡偏θWP1 0～20 尺偏θWP2 0～30 肘关节 屈曲θEQ1 0～150 伸展θEQ2 0～10 旋前θEX1 0～80 旋后θEX2 0～80 肩关节 屈曲θSQ1 0～180 伸展θSQ2 0～120 外展θSZ1 0～90 内收θSZ2 0～30 旋内θSX1 0～70 旋外θSX2 0～90
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动作 基准动作
时间平均值/s基准动作
时间方差/s2基准动作
时间中位数/s基准动作
时间最大值/s基准动作
时间最小值/s基准动作
时间极差/s指关节动作M1 0.72 0.03 0.71 0.96 0.52 0.44 腕关节动作M2 1.39 0.09 1.30 2.16 0.98 1.18 肘关节动作M3 1.95 0.19 2.01 2.82 1.19 1.63 肩关节动作M4 3.02 0.26 2.95 3.81 2.06 1.75
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表 4 案例1结果分析
Table 4. Case 1 result analysis
动作描述 动作
分解t1MOD值 本文方法
时间/s文献[5]方法
时间/s实际
时间/s伸手握住器械桁架 M3-G1 4 [5.13,6.15] 5.34 5.72 伸手抓取维修工具 M3-G1 4
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表 5 案例2结果分析
Table 5. Case 2 result analysis
动作描述 动作
分解t1MOD值 本文方法
时间/s文献[5]方法
时间/s实际
时间/s接近待拆卸螺母 M4 4 [25.00,29.99] 26.12 28.00 旋转动作 M3 30 拧下螺母 M1 5
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表 6 案例3结果分析
Table 6. Case 3 result analysis
动作描述 动作
分解t1MOD值 本文方法
时间/s男航天员平均
实际时间/s女航天员平均
实际时间/s握住金
属桁架M3-G1 4 [2.56,3.08] 2.83 2.89
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表 7 案例4结果分析
Table 7. Case 4 result analysis
动作描述 动作分解 t1MOD值 本文方法
时间/s男航天员平均
实际时间/s女航天员平均
实际时间/s安装
安全绳M4-P2-C4 10 [6.41,7.69] 7.01 7.18
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表 8 航天员开舱门的时间评估
Table 8. Estimated time for astronauts to open the door of the spacecraft
动作描述 动作分解 次数 t1MOD值 评估时间/s 伸手取工具 M4-G3 1 7 [4.49,5.38] 旋转工具 M2-C4 18 108 [69.23,83.05] 放回工具 M4-P5 1 9 [5.77,6.92] 伸手拉住舱门 M4-G3 3 21 [13.46,16.15]
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表 9 航天员安装脚限位器的时间评估
Table 9. Estimated time for astronauts to install the foot restraint device
动作描述 动作分解 次数 t1MOD值 评估时间/s 拿取脚限位器 M4-G3 1 7 [4.49,5.38] 将脚限位器末端插入基座 M3-P5-E2 4 40 [25.64,30.76] 锁定末端的锁紧把手 M3-C4 2 14 [8.97,10.77]
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