Design And Experimental Study Of Space Station Cabin Flying Robot System

With the development of space industry,a new technology of "flying robot in space capsule" has been put forward.The astronaut releases a small aircraft in the space capsule.The aircraft flies autonomously or maintains its position in the capsule with its own control system.After reaching the designated position,the position is maintained through the control instructions,and then the required target operation is carried out through the end-effector.The aircraft itself carries certain functions,such as monitoring,carrying,communication,measurement,autonomous operation,etc.,and even has certain vision and intelligence.The end-effector is responsible for the main task of operation.So we need to carry out research on the robot flying in the space capsule.This thesis mainly studies the following aspects:(1)This thesis studies a variety of cabin aircraft at home and abroad,analyzes the advantages and disadvantages of various aircraft,and summarizes the flying robot system,that is,the combination of cabin aircraft and end-effector,during the execution of the target task faced with various problems;Then based on the comprehensive investigation of multi-fingered dexterous hand,compared with the traditional robot end-effector,the complete construction requirements of the spacecraft in space were summarized.Based on the above design requirements for the overall system of the aircraft and the degree to which the robot needs to achieve the target operation,this study chooses to build the in-cabin flying robot system by attaching multi-DOF dexterous hands externally to the aircraft.(2)This research is based on the existing platforms: AAR-2 flying robot designed by Shenyang Institute of Automation,Chinese Academy of Sciences and RH56DF3 humanoid five-finger-dexterous hand of Beijing Yinshi Robot Technology Co.,LTD.Due to the coupling of finger joint angles in dexterous hands,the coupling relationship between active Angle and passive Angle of dexterous hands is analyzed by simulation in order to carry on the kinematic analysis of the rear mechanism.In order to obtain more freedom of mechanism by referring to the structure of human hand to forearm,a connecting mechanism was designed based on the existing prototype to form the whole flying robot system.(3)Based on the improved D-H parameter method,this thesis study the forward kinematics of the whole robot system.With the help of the robot toolbox of MATLAB,the trajectory of the robot is simulated and the kinematics calculation results are verified.The workspace of the robot is analyzed based on MATLAB.At the same time,the kinematics model of the five-finger dexterous hand is established,the forward and inverse kinematics of the dexterous hand are solved,and the Jacobian matrix is analyzed.(4)This thesis analyzed the grasping types of dexterous hands and designed a task panel for robot platform interaction based on the space module target task requirements;The simulation of each step to achieve the theoretical calculation,with SOLIDWORKS and ADAMS to establish the model and simulation to verify the calculation results,and then through MATLAB and ADAMS co-simulation,simplify the simulation process.(5)In this thesis the ROS operating system under LINUX is used to carry out secondary development on the basis of controlling the Angle,speed and force of the five-fingered dexterous hand,so that the dexterous hand can achieve a variety of action sequences and meet the target requirements;On the basis of communication between Windows and LINUX,the upper computer interface is designed in Windows MATLAB to achieve the requirements of simplified control steps.In this thesis the research on the robot in the space capsule is carried out from many aspects,which provides a good reference for the further research.