Development Of An Integrated Jointwith Large Load Ability Used For Humanoid Robots In Space

With the rapid development of the world space, use space robot to help or replace astronauts to perform complex tasks can reduce or avoid the risk of astronaut extravehicular operations, and improve the efficiency of space exploration, have extremely important significance. In this paper, according to the humanoid robot applications demand in space, taking the actual situation of the ground experimental into account, it’s very necessary to design and develop a set of large load capacity integrated joint, and to carry out the experimental study.Based on the operation situation of the space humanoid robot, the function and performance requirements of the joint are analyzed, and the integrated joint is designed. In mechanical system we string DC brushless motor and harmonic gear together which eliminates the conventional gear box to bring back the difference, improves the transmission accuracy, helps improve their life. It meets the functional requirements while achieving the joint of lightweight, miniaturization, and has good reliability and environmental adaptability. In order to verify the feasibility of mechanical design, the key parts are checked, it was analyzed by Ansys. The integration of joint is equipped with position sensor, torque sensor, incremental encoder. The position sensor is mainly to do the feedback of the position loop, incremental encoder is for speed feedback loop, torque sensor is mainly for torque feedback. Control system mainly consists of the slave computer which completes motor motion control and host computer which undertakes monitoring, sends control commands and plans motion tasks. The slave computer is use of FPGA(Field Programmable Gate Array). And the host computer provides a friendly interactive interface, using VB to program. It mainly includes the setting area, sending area, joint control area, reception area, brushless motor Hall signal area, motor planning regions and data analysis area, the host computer and slave computer by serial communication.According to the results of the design, a series of experiments were carried out by using the integrated joint, which includes the integration joint control, load test and planning test. The experimental results show that the integration of joint works well. The whole system is safe and reliable.