Research On Retractable Space Manipulator And The Control Method

In this paper, the structure of flexible space mechanical arm is studied and the expansion motion of the retractable manipulator is modeled and simulated.Firstly, this paper analyze the workspace and the terminal load of flexible space mechanical arm under different configurations. According to the design index of the joints and space manipulator working environment, the overall design of the joints structure of the space manipulator is accomplished according to the design index of the joints. the joints performance index is simply analyzed and the important components of the joints are selected and the emergency driving components and the mechanical limit devices are designed based on the design index of the joints.Through comparing a large number of extension scheme of flexible mechanical arms, this paper determines the scheme of joints driving telescopic arm scalable. According to the telescopic scheme, the overall design scheme of the telescopic boom is determined, and the arm of the telescopic manipulator is designed. the locking movement has carried on the simulation analysis by Adams, and according to the results of simulation analysis we calculate and choose the locking institutions of driving parts. Considering changes of the arm length of flexible mechanical arm stretching, the wire length of the telescopic manipulator varies with the mechanical arm. Thus, in this paper, we design a retractable device of wire installed in a scalable machine arm inside.The principle of passive stretching is adopted by a retractable device of wire. And we use scroll spring driving plate type reel with the wire retracted.According to the preamble design of telescopic manipulator structure model,we not only analyze flexible manipulator deployment motions, but also carry on trajectory planning in joint space using the improved cubic spline of mechanical arm motions. And then we select a the trajectory planning route that satisfied the joint performance of parameters Because the motive way of joints in the motion of a flexible mechanical arm is different from traditional mechanical arm, In this paper, we design the active joints with the PD control and driven joints with compliance control. The effectiveness of the control strategy is verified by Adams/Simulink combined simulation.Finally, in order to verify the working performance of the telescopic manipulator, the principle of the locking mechanism is designed, and the experimental test platform is built.The locking function of the locking mechanism is verified experimentally, and the stiffness of the locking mechanism is experimentally tested. It is proved that the structure of the telescopic boom arm is reasonable and the working performance is reliable.