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研制了一种应用于空间机器人末端的快速更换装置,实现对多种工具和有效载荷的快速更换.该装置可以同步完成对末端工具的捕获锁紧和电气接口推送,同时具有力矩输出接口,可以为末端工具或有效载荷提供动力输入.考虑了几何布局条件、力学条件和位姿容差条件,对其关键部件进行了优化设计.电气系统采用分层嵌入式控制系统,介绍了电机驱动板、控制板及传感器采集模块.通过虚拟仿真平台,对其容差能力进行了分析验证.最后利用4自由度机械臂平台进行了静态插入实验,得到了与理论分析和仿真相吻合的结果.
A rapid change device for end-of-space robot is developed, which can quickly change various tools and payloads.The device can simultaneously capture and lock the end tool and push the electrical interface, and has a torque output interface Which provide the power input for the end tool or payload.According to the geometrical layout condition, the mechanical condition and the pose tolerance condition, the key components are optimized.The electrical system adopts the embedded control system, introduces the motor drive board, the control Board and sensor acquisition module.Through the virtual simulation platform, the tolerance capability was analyzed and verified.Finally, the static insertion experiment was carried out by the 4-DOF robotic arm platform, and the results were consistent with the theoretical analysis and simulation.