The Design Of Retractable Space Manipulator Principle Prototype

With the development of science and technology,the deepening of space exploration,the on-orbit tasks relying on the space manipulator become more and more.In the past few decades,the researches of space manipulator are only limited to using rotary joint and fixed length to imitate human arm movement.Different tasks need to design different manipulators.When the manipulator finish,its work space and ability will be confirmed.The restriction of ‘task confirming type'space manipulator lead to low efficiency of development of on-orbit tasks.In addition,the repetitive designing of space manipulator for different tasks will increase R&D costs?R&D time and launch costs.It will limit the approaches to application.It is not favorable for the drastic aerospace market competition.This article is going to research and design a extension-type space manipulator principle sample.It not only decrease its envelops size to decrease launch costs,but also can realize different construction of space manipulator to satisfy requirements of different tasks.The study work mainly includes the following aspects:(1)Researching the current situation of space manipulator and extension-type space manipulator home and abroad,comparsing the advantage and disadvantage of them.Confirming extension-type space manipulator as the object of study;Researching the current situation of kinetic analysis of space manipulator home and abroad,choosing a sutiable method for the extension-type space manipulator principle sample in this article.(2)Introucing the researching requirements of extension-type space manipulator principle sample.Breaking the requirements and putting forward whole scheme,also estimating the parametres of manipulator principle sample.(3)Modeling the principle sample by Lagrange method and simulating by dynamic software ADAMS to adjust the results.Observing driving torque of all joint for whole motor process.Designing the rotary joint and extension group by the result of simulation.(4)The general structure design of the extension-type space manipulator principle sample is completed according to the disassembled function indexes and technical indexes,including lever type selection,telescopic assembly design,knuckle assembly modularization design,design of air-foot support assembly required by gravity unloading and safety protection design.Modeling and accounting are performed on the driving motor and the transmission components,and statics simulation analysis is further performed on the manipulator,its knuckles and other critical parts.(5)According to the demand of system,it will design control system for the system,concluding the design of master controller,communication way and the design of motor driver.