Soft Contact Analysis And Experimental Study On Manipulator With Controllable Damping

Space on orbit capture is one of the most important parts in space exploration mission.Through space on orbit capture technology can complete the space junk cleaning,maintenance of failure satellites and refueling of fuel and other tasks.In the process of space acquisition,the collision force will have a larger impact on the mechanical arm joint and the satellite base,and it is easy to cause the satellite to roll out of control.This research based on controllable damping technology,design flexible and controllable component in the manipulator joints to realize the collision buffer and suppress in the process of spatial capture,enhance the security and stability of on orbit capture.The specific research contents are as follows:First of all,based on the principle of magneto rheological theory,a linear micro MR damper and a rotary micro MR damper are designed.Design and build the experiment platform of the nonlinear damping characteristic of MR damper,and the experiment of the damping characteristic of MR damper is completed through the experimental platform.The neural network model of MR damper is established by using the experimental data.By comparing the model output with the experimental data,the accuracy of the neural network forward and inverse model is verified.Secondly,based on the constraint conditions of the air bearing table,design two joint four degree of freedom with controllable damping manipulator arm.According to the main experimental tasks of the manipulator arm,the design parameters of the manipulator arm were determined,and the design of the manipulator arm joint and the configuration design of the manipulator arm were finished.Thirdly,the numerical simulation and 3D visual simulation system of the manipulator arm with controllable damping are developed.According to the vibration suppression control scheme of the manipulator arm with controllable damping based on the particle swarm optimization algorithm,the numerical simulation was finished in the MATLAB software.The vibration.displacement curve and the damping force spline curve of the manipulator arm were got.In the ADAMS dynamics simulation software,the manipulator arm model with the same parameters in MATLAB simulation is established.By comparing the results of two kinds of simulations,the effectiveness and accuracy of the particle swarm optimization control algorithm are verified.Finally,the physical prototype of two joints four degrees manipulator arm with controllable damping was made.Based on the air bearing table,the experimental scheme of the soft contact characteristics of the manipulator arm is designed.The experimental results show that the manipulator arm with controllable damping has the characteristics of rigid drive and soft contact.