Research On The Extendable Arm Of Tether Based Space Crawling Robot

Extendable robot arm is a transformable robotic device, it has theadvantage of tiny volume and giant extendable length to be widely used in manyarea: tether based crawling robot, space docking, space detective device, to namea few. In this essay an extendable robot arm based on tether based robot isdesigned.To begin with, an extendable robot arm is designed and assembled. Basedon the requirements of the tether based crawling robot, the rules of designing anextendable robot arm are established. The extending method of the arm isestablished, a self-lock transport system is designed, a future deep design isconducted and a press-tight wheel structure and a leading structure are added. Aprototype is machined and assembled.Then, the vibration of the arm is simulated. According to the structurecharacter, the model of the arm is simplified to an overhang beam. Bothmathematical and ANSYS simulation are carried out. Considering the conditionof the arm motion, the influence of the moment parameters of the robot arm onvibration is analyzed.Followed, the control method of the robot arm is researched. Based on therequirements of the crawling robot, the control method of telescopic isresearched and PD control method is introduced. The trajectory of the robot armis planed.Finally, some experiments of the robot arm are carried out. The experimentplatform on which the influence of the moment parameters on vibrationexperiments, telescopic control experiment and parameters identificationexperiment are carried is built. The system intrinsic parameters are estimatedusing the Least-Squares estimation method. The performance of the robot arm isverified.