Several Basic Problems Of Parallel Robot Research Under Micro-Gravity Environment

With the development of science and technology, it's gradually in-depth to explore the unknown fields. Going to the outer space is no longer a dream. In order to be more safe and efficient use of outer space environment, space robots are being the people's growing concern. As an important branch of the robot, space parallel robots have been used in the aerospace fields. They have broad prospects and huge potential for development.This article studies the kinematics, dynamics and control methods of space parallel robot, proposes a new application of space parallel robot. Details are as follows:As the basis of parallel institutions, it takes the simulations for the speed, the acceleration, the displacement and the force of the parallel mechanism, using Cosmosmotion module. Through both horizontal and vertical contrast, microgravity environment factors on the impact of parallel robot are concluded use of the image list method.Dynamic analysis is carried on using Lagrange and Newton -Euler method, two kinds of dynamics formula are improved. General calculation steps of two methods are given in Micro-gravity environment, and the 3-RSR institutions examples were validated.A novel space parallel robot is designed, for the space mission to capture a static target, the attentions to space parallel robot path planning are made of. To capture the static object, the parallel robot path planning is carried out in four steps. And the simulations are completed using SolidWorks.Finally, the space robot control method is summarized, and the relationship between structure and control of space parallel robot is given. To complete the capturing mission, the control process of the new parallel robot is designed, and the control flow chart of the space parallel robot is drawn. The experimental platform of space robot is built, and two simulation experiments are carried out.