Design And Research On Tool Exchange Device And Operation Tools Of Space Robotic ARM

With the continuous exploration of space,the spatial tasks are b ecoming more and more diverse and complex,which means that more and m ore different tools need to be designed.Therefore,in order to suppo rt the space manipulator system to accomplish spatial tasks better an d reduce the cost of spatial tasks,a robotic arm system usually equi ps with several different tools.So,it is very important for robotic arm system to develop a fast switching system,which is of great sign ificance for the space manipulator system to accomplish the spatial t asks.Firstly,according to the actual situation of the manipulator,th e corresponding technical requirements of the fast switching system a re put forward.At the same time,the function of the mechanical arm of the fast switching system is analyzed and the mechanical structure are discussed.Then,Simulation and analysis of the strength and stif fness of the key components of the mechanical arm of the quick change system are carried out,which proves the rationality and correctness of the design.Secondly,we designed a scissors tool for cutting cables and a cu tting tool for cutting solar panels.Based on the actual working envi ronment and other factors,the design parameters of the two tools are determined,and the movement characteristics and advantages of the to ol are discussed.Then,the stiffness and strength of the key parts o f the tools are checked and analyzed to ensure the reliability of the design.Thirdly,the standard interface between the fast switching system and tool are analyzed to determine the maximum tolerance range.And M ATLAB and ADAMS are used for simulation.Next,we carried out the exp eriment on KUKA robot arm to prove the validity and correctness of th e pose tolerance theory.Finally,based on tool replacement and docking process,the imped ance control strategy of robot arm is put forward.Then,mathematical model for the impedance control of the robotic arm system is establis hed and the influence of various parameters on the control characteri stics is also found.Conclusively,the feasibility and correctness of theoretical deduction and software simulation are verified by experiments.