Dynamics Simulation Of Space Robot Arm’s Clearance And Friction

With the rapid development of space technology, space manipulator in rail services as a key technology more and more people’s attention. Due to the complexity of its space robotics work environment requested its have these advantages, such as high precision, light weight, low power consumption and low energy consumption. during the dynamic Analysis of the manipulator must consider the issue of flexible arm, this way more meet the actual trajectory of aerospace manipulator movement. Robotic arm members is connected to each other through Kinematic pairs, the issues of the gap and friction in Kinematic pairs Will be the main issues affecting the kinematic performance and accuracy. Therefore, this paper study of the space flexible manipulator’s gap and friction issues.Firstly, this paper establish the rotating hinge gap vector space model and the mathematical model with rotating hinge for the rotating hinge gap. Correctly describes the contact collision of the gap between the hinge, establish the organization’s Dynamic equation containing gaps, And use the geometric inverse dynamics and Kane equations establish rigid manipulator’s dynamics equations containing friction.Secondly, study for the plane motion of two degrees freedom manipulator, stress analysis for manipulator’s two arms and two joints, establish the relationship of joints driving, Then using matlab software simulation analyzed the driving force of the robotic arm’s two joints, and using Adams software analyzed the rigid manipulator’s Kinematic pair Friction. Then analyze the influence of different arm lengths for the flexible manipulator sports performance.The last and most critical part of the article is mainly based on the existing Canadian arm 2 modeling and Analysis, Establish the rigid coupling model with joint clearance of the seven DOF spatial movement manipulator, analysis the influence of Kinematic pair gap size, driving force size, damping coefficient and the tangential dynamic friction for dynamic control of flexible manipulator including gap. To improve the motion accuracy and reliability analysis of space manipulator provides help.