Research On Typical Modules And Linear Motion Configuration Of Reconfigurable Space Manipulator

As an important part of the implementation of Chinese space station strategic plan,the modular manipulator has enabled the implementation of space missions to develop in a more precise and efficient manner with the development of the space industry.In order to satisfy the needs of various manipulators inside and outside of the spacecraft cabin,especially to solve the complex and diverse on-orbit maintenance and monitoring of the space station,this paper designed a reconfigurable space manipulator to analyze configuration studies for specific tasks.At first,the typical modules of the manipulator are designed.Based on the design idea of the modular reconfigurable manipulator,the typical modules with different function of the manipulator were designed,and the internal transmission structure and external dimensions of each functional module were designed.Through the study of the functional modules at the end of the space manipulator,combined with the typical mission requirements of the space station,a relatively complete set of typical modules were established.The study of typical modules for various functions was the basis for the construction of redundant reconfigurable manipulator.Secondly,the configuration of manipulator was built.In order to study the influence of the linear motion module of the manipulator,three kinds of configuration of manipulators were built by taking the typical operation task of the space station-the disassembly of the screw as an example.Based on the manipulator's configuration,the forward kinematics equation was established;the BP neural network was used to solve the inverse kinematics of the configuration;the Monte Carlo method was used to predict the working space of the manipulator;the robotics Toolbox toolbox using MATLAB was used.The work space,motion trajectory and its kinematic parameters were simulated and verified.The Lagrangian dynamic equation of the manipulator was established.The Jacobian matrix of velocity was obtained by differential transformation method,and the dynamics simulation analysis of the manipulator was performed by Adams.Finally,the evaluation function of the manipulator's configuration was established,and the degree of adaptation of the 3 configuration was compared.Combining the results of kinematics and dynamics analysis,the influence of the positional change of the linear motion module on the overall configuration was studied.Analyzing and evaluating the performance of the manipulator,and setting the correct evaluation index for the calculation and analysis of the three configurations for the typical task,and using the evaluation function to synthesize the indicators of each configuration,then the optimal configuration of the task was obtained.