Design And Kinematics Simulation Of A Space Continuous Manipulator

On the basis of the development of space technology,the size and mass of space vehicle are increasing,the structure of mechanical structures and components is becoming more and more complex,and On-Orbit servicing has become an important research direction in the field of space development technology.On-Orbit servicing includes on-orbit docking service,on-orbit maintenance service,on-orbit assembly service and space debris recovery service.Because of the particularity of the structure of spacecraft and the complexity of its environment,the space range of motion of traditional manipulator is extremely compressed,and the function of traditional manipulator is difficult to fully play.It is difficult to complete the task of space operation well.Aiming at space non-cooperative target detection and complex space environment,this paper presents a space continuous manipulator to make up for the shortcomings of traditional rigid manipulator in space mission.As a new type of bionic robot,space continuous manipulator has the characteristics of flexible bending,small bending radius,working in narrow space such as pipeline,strong adaptability to unstructured environment and so on.Its research breaks the original research ideas of rigid joint robots and strongly promotes the development of robotic technology.The design of the space continuous manipulator of this subject combines the structural design of the classic continuous robot and the snake robot.The articulation is connected by a ball hinge.With this design,the mechanical arm structure is simpler than the traditional snake-shaped robot,and has higher positioning accuracy than the classic continuous type mechanical arm,and the structure is more compact,and has a guiding effect on the application of the continuous robot to the spacecraft.Firstly,this paper conducts an in-depth study on the structure of the space continuous manipulator,and describes the development situation both here and abroad,and introduces the principle and structure of the continuous robot.Secondly,the detailed design process of a space continuous manipulator is introduced.The design index is that the bearing capacity of the manipulator is 1.5 kg,and the maximum bending angle of the single-stage joint is ±180°.Thirdly,a simple modeling method for space continuous manipulators is developed based on geometric analysis method.The mapping relationship between joint space,driving space and operation space of single-stage and multi-stage continuous joints are analyzed,and a decoupling kinematics algorithm for single section and three sections manipulator is deduced.The manipulator work space is described using improved Monte Carlo method.The kinematics simulation of the manipulator is carried out using MATLAB to verify the correctness of kinematics algorithm.Finally,the prototype of space continuous manipulator is manufactured,and the position accuracy test and bending test are carried out to demonstrate the good bending ability of the manipulator.The research of this subject provides a theoretical and engineering application basis for the application of space continuous robots to spacecraft research.