Development Of Electromagnetic Damper For Space Soft Contact Manipulator Joint

In recent years,with the increasing number of spacecraft,on-orbit service technology has received more and more attention from aerospace powers.The capture of non-cooperative targets is a hot and difficult topic in the field of space robot technology.The parameter uncertainty of the non-cooperative target makes the capturing difficult,and the collision impact during the contact process is difficult to predict,which greatly reduces the working ability of the spacecraft and even threatens its own safety.This article is from the National Natural Science Foundation of China(project approval number:51875046),and developed an electromagnetic damper for a certain type of soft contact mechanical arm joints which used buffer and unload the impact of the mechanical arm in contact with the target to improve The ability of the robotic arm to capture and operate and ensure the stability and safety of the spacecraft.Firstly,based on the development status of space non-cooperative target capture technology and electromagnetic damper,combined with the structural characteristics and working principle of soft contact mechanical arm joint,the design scheme of electromagnetic damper is proposed,and the electromagnetic field theory is used to carry out mathematical modeling.The influence of design parameters on the braking torque of the electromagnetic damper is studied by deriving the expression of braking torque.Secondly,the three-dimensional finite element model of electromagnetic damper is established by ANSYS.The magnetic field and vortex current distribution of the electromagnetic damper under dynamic conditions and the influence of design parameters on the damping torque output are analyzed.Thirdly,the virtual simulation model of the double joint soft contact manipulator based on free floating base is established by ADAMS.The influence of the controllable damping component on the stability of the system is explored.The parameters of the electromagnetic damper and the overall design are combined with the finite element simulation analysis.Finally,by designing the performance test of the electromagnetic damper,the braking torque output capability of the physical prototype and the impact buffering effect are examined.