Control System Design Of Robot End Effector For Installing Rack

Building large space station will be core of manned space technology as ourcountry manned space technology unceasing development， the laboratoryequipment in standard payload racks are the main hardware facilities in the spacestation. It is impossible to unloading racks by human because of the restrictionsof weight of the racks and the size of capsule door, so it is important to deviserack installation robot to install racks into capsule, end effector is a specialstructure of rack installation robot to be discussed in this paper.This paper analyzes the structure of end effector firstly, and builds fixedcoordinate system and dynamic coordinate system to calculate the positivesolutions and inverse solutions of kinematic, the inverse solutions of kinematicsthe key to install the rack precisely. And then designs masterslave control systemconsisted of industrial control computer and Trio Euro209motion controller, thephotoelectric sensors are used to avoid collision to the capsule, in addition, asystem is put forward to measure center of gravity of the rack in rotatingcoordinate system, five load cells in this system can also be used to measure forceof four bolts; Finally designs the procedure of center of gravity by Visua1C++6.0and designs the procedure by BASIC language provided by Euro209motioncontroller to install the payload rack.The control system of end effector for installing rack adopts five load cellsto measure center of gravity of the rack and to measure force of four bolts quickly,and photoelectric sensors are used to avoid collision to the capsule precisely, thecontrol system has the function of automatic and manual, which can improve theloading efficiency of payload installation.