Research On Electrical System For An End-effector Of A Space Large Manipulator

Space manipulator becomes an important tool used in on-orbit servicing. Asthe execution component of the space manipulator, the end-effector plays asignificant role in these operational missions. The end-effector studied in thisdissertation which functions as linkage locking was a three-jaw mechanicalstructure. Based on this kind of mechanical structure, the electrical systems andcontroller of the end-effector is designed. Moreover, in order to verify that the end-effector can capture the target loads successfully, some capture experiment bas edon position sensor and force sensor will be done.Firstly, the design of end-effector’s electrical system is to be implemented. Thedissertation focuses on the design of the electrical system which includes sensors,power supply and drive units. In order to prevent the electrical system from meetingSEL(Single Event Latchup) in the space environment, SEL protection control in theend-effector is considered, which are used to maximize system’s reliability andadaptability.Secondly, the motion control system of the end-effector which based onTSC695-FPGA processor architecture is analyzed. In this architecture, TSC695F isto realize the motor motion control, sensor data fusion, troubleshooting, andtrajectory planning, while FPGA is to collect the sensor data, providecommunication interface for the central controller and TSC695F, and drive motorsbased on the TSC695’s control instruction. Using this architecture, TSC695F canhandle the complex algorithm more efficiently and the hardware configuration canbe simple relatively.Finally, the controller of the end-effector on the motor output terminal is to beestablished based on the mathematical model of brushless DC motor and drivechain. Established the air-floating experiment platform, some capture experiment isto done for the end-effector to verify the correctness and effectiveness of thecontroller.