The Design Of The Space Robot's Capture Gripper

With the development of space technology, human's space exploration will become more and more frequent, the space robot technology research has become the focus of national concern. The paper lies on the national 863 project "space robot" as the background, focusing on the design and research of the space robot's capture Gripper.According to the actual tasks and requirements, and taking into account the specific gripper work environment, choose a four institutions as the gripper body structure, selected brushless DC motor as the drive system, use the bevel gear as the transmission system, and gave a detailed theoretical analysis. Then used modular design concept, with three-dimensional software Pro/E designed the components of the gripper, and assembled its components virtually, tested the correctness of the design ideas.Vector analysis theory was used in this paper to establish the equations of motion of the gripper, gained the system kinetic equation based on Lagrange's equation, deduced the relationships between gripper components' positions and orientations and the relationship between gripper components' Movements and forces. Used Kinetic analysis software ADAMS analysis the system detailed, obtained the system driving torque, provided the theoretical basis for the design of the control system.According to classical control theory, using current, speed and position control as a three-ring system control strategy. We selected TMS320LF2407 as the core device, designed the main control system hardware and CAN bus communication circuit. Finished the system software module design, and gave flow chart for each module of the whole system.In order to verify the performance of control systems, we designed the electric paw simulator, The result of testing make it clear that the CAN bus work stably and efficiently, the Capture Task are satisfied in the electric paw simulator.Finished the mechanical-electric system assemblage, and completed the united testing of the mechanical-electric system. The result showed the paw satisfied the request.