Design And Control Of A Linkage Type Elastic Mechanical Hand

Aluminum honeycomb panels are common materials for spacecraft and space satellites.They are lightweight,heat-insulating and high-strength.They are suitable for high temperature,high pressure,high radiation and other harsh environments in space.Space robots need to rely on the contact between the mechanical gripper and the aluminum honeycomb panel to achieve landing on the surface of spacecraft and space satellites.Therefore,it is very important to study the connection of mechanical grippers to aluminum honeycomb panels.In this study,aiming at the approach and gripping of the existing robotic hand grippers,using the cat claw biomimetic principle,an interlocking elastic robotic gripper specifically designed for piercing and anchoring an aluminum honeycomb panel was proposed.The main research contents and results are as follows:1.Put forward the overall design scheme of the linkage type elastic mechanical hand.According to the principle of bionics claw,using mechanical bionic principle and information control method,aiming at the characteristics of target,the capture and capture gripper position,so as to design linkage type spiked claw type spring hook,non linkage,linkage type spring claw and scheme comparison analysis of the three structures,finally we determined a linkage type spring hook for optimal design.2.The structure design and Simulation of the linkage type elastic mechanical hand.According to the requirements of technical indicators,the linkage mechanism design of elastic mechanical gripper is designed,including mechanism composition,claw finger scheme,claw finger transmission scheme,screw push disc scheme,buffer foot and unlocking scheme.The key components are selected,including the mechanical material of the claw thorns,the selection of the spindle spring,the design of the buffer spring and the selection of the motor.Furthermore,the kinematic analysis of the flexible mechanical claw is carried out using ADAMS to verify that the designed linkage of elastic mechanical paw does not exist in motion interference.3.The control system of the linkage type elastic mechanical hand.The control system plan takes STM32RCT6 as the core device,designs the hardware circuit of the control system and completes the system software design.The hardware system mainly includes the selection of singlechip and the design of serial port sending circuit.The software system includes the research of controller instruction and the program of sending serial port to MCU.At last,speed control is used as the control strategy of the system.4.According to the actual parts and combined with the selected controller,we completed the assembly and joint commissioning of the electromechanical system,and carried out related experiments to verify the relevant technical indicators of the model.The test results showed that the linkage elastic mechanical gripper conformed to the design index.