论文部分内容阅读
太空环境使得宇航员进行器件维修、科学实验、深空探测等活动变得非常困难,并可能由于长时间舱外作业而给带来生命危险。为提高宇航员在太空环境下的舱内外作业效率和安全性,尤其针对小型部件的维修和更换,设计了一种冗余机械臂。首先,详细论述该机械臂主要部件的设计思想,完成原理分析、位置空间分析、机构设计等内容;然后,讨论了冗余自由度的控制策略,分析了12种控制状态,完成了相关控制机构设计。该机械臂具有结构简单、运动灵活、操作方便等特点,能够快速、准确地完成小型零部件的抓取、定位、安装等操作,而且通过更换不同的工具,可以实现不同的空间操作任务。
The space environment has made it very difficult for astronauts to carry out equipment maintenance, scientific experiments, deep space exploration and other activities, and may be life-threatening due to prolonged outdoor operations. In order to improve the efficiency and safety of astronauts in and out of the space environment, a redundant robot arm is designed especially for repairing and replacing small parts. First of all, it discusses in detail the design principles of the main components of the robot arm, completes the principle analysis, position space analysis and mechanism design. Secondly, it discusses the control strategy of redundant degrees of freedom, analyzes 12 kinds of control states and completes the related control mechanism design. The robot arm has the advantages of simple structure, flexible movement and convenient operation. The robot can quickly and accurately capture, locate and install small parts, and can realize different space operation tasks by changing different tools.