Micro-gravity Environment Research And Analysis Of Stewart Parallel Robot

With the rapid development of space science and technology, researching andexploiting space resources are now become one of the most important direction ofhuman civilization development. In the meanwhile, the hostile environment whichincludes space micro-gravity, vacuum and radiation is really a big threaten tohuman being. While the space robot can complete some space homework instead ofthe astronauts, which can avoid environmental impacts. Parallel robot is one of theimportant branches of robot field, this kind of robot is a new type of robot, nomatter in the aspect of structure or functions implementation, and now it is beingapplied to the aerospace field gradually.Different from the ground fixed base robot, the space robot is launched on thesatellites. So the position of the base is unfixed. This paper used a parallel robot,Stewart, as an example to research some characteristics of parallel robot under theenvironment of micro-gravity, and the specific research content as follows,Firstly, as the foundation of researching parallel mechanism, this paper give aKinematic modeling method and the derivation process of general Jacobi matrix ofStewart under the micro-gravity, the SolidWorks software also being used tosimulation analyze impacts of the movement of upper platform to lower platform,and the impacts of the quality factor of lower platform to the movement of lowerplatform.Secondly, Lagrange method is adopted to analyze the Dynamic of Stewartunder the environment of micro-gravity, and the ADAMS software is being used tosimulation analyze the inverse Dynamics of Stewart under both the environment ofmicro-gravity and gravity; to provided basis for future research space mechanism, anew analysis method also being used to simulation analyze the bearing capacity ofStewart under the environment of micro-gravity.Thirdly, two kinds of algorithm method (Ant colony algorithm and Cartesianalgorithm) were used to plan the whole space path of Stewart, computed thedifferential motion vector of upper platform, and used the MATLAB software toprogramming simulation.At last, the paper will introduces attitude and motion control of Stewart underthe environment of micro-gravity, creation of the experimental platform , design ideas and control flow, which offers the basis for the control of parallel robot underthe environment of micro-gravity.