Planet Sampling-arm Design And Analysis Of Mechanical Arm

The robot technology is very important position in the aerospace applications,especially the planetary exploration robot, urgent request to puts forward the developmentof robot technology.Planetary sampling manipulator is the core institutions in probing andsampling process of micro-detector. This paper discusses the current application status andprospect in the domestic and overseas of the existing planetary sampling manipulator, andpresent a lightweight construction on the basis of fully studying the existing microexploration robot technology.According to the sampling task of detection and performance index,the robot arm musthave some functions of expand/fold， place and precise positioning to a target,anddigging,sampling,carrying, self-repairing and so on. For the planetary environment,the robotarm require light weight,heavy load,flexibility,compaction,reliability and maximum workspace so that it can play the maximum capacity of the collaboration for the mobile platformand the manipulator.In this paper, the structure is designed like humanoid arm,that is waist, shoulder, elbowand wrist.Four joints are all the rotary joints and it have four DOF.The manipulator jointcomponents is designed in detail,such as the shoulder joint and sampling part of the jointstructure.And the key technology of robot system was done a detailed analysis andresearch,for instance,DKP,IKP,analyzing work space and trajectory planning.The maincontents of this thesis as follows:1. Having a comprehensive overview and fully learning of domestic and foreignresearch status of the sampling manipulator,then the research goal and the main researchcontent in this article was presented.2. Through analysis and research on the structure of the existing samplingmanipulator,a new type of lightweight structure of mechanical arm was putted forwardaccording to the tasks.Taking full account of the rationality of the structure and componentsof the process, and having a detailed analysis of the corresponding special parts.3. The use of virtual prototyping technology can have a reasonable simulation analysisand dynamic analysis of the sampling manipulator design.It is the basis of the power systemselection and interference checking for the sampling manipulator.Each joint of the robotmodel is established in ANSYS software and the displacement, stress and modal wasanalyzed to verify the rationality of the robot body design.According to the requirements of the system rapid response and smooth work, the drive of each joint and the calculation ofmotor reducer was determined to achieve optimal system design.4. The DKP and IKP equation is derived based on the theory of robotics.Working spaceis an important performance of the sampling arm, its size and the singular configurationreflect the flexibility of the arm and the influence of linkage parameters.Monte Carlonumerical method and the random number was used to generate relative joint variableswhich may be the location of the collection. These lay the foundations for the furthertrajectory planning. And the MATLAB software was used to carry on the simulation.5. Hardware experimental platform of this article is based on EMAC-200controllercomponent and electric circuit was designed.The core of control platform is PC, systemimplementation through the callback the dynamic link library of controller.