| With the development of space services in orbit, there are more and more works needing staff to complete on the space station and space shuttle. As a relatively high risk of space operations, and personnel directly with convenient, a space manipulator is needed to complete these works. One of the most representative of space manipulator is Canadian arm installed on the station of the United States. Space manipulator joint reducer is the main device which completed motion transmission and the arm connected. The Canadian arm joints reducer mainly adopts the planetary reducer and harmonic reducer. In this paper, according to space manipulators's low-speed and lightweight characteristics, the planetary gear used in the manipulator has been designed and researched.Space manipulator is based on a large drive gear ratio and small mass of technical requirements. This configuration of the reducer is analyzed and selected, and this paper determines the technical requirements meeting the parameters of the planetary gear reducer and the number of planetary gears, and designed the structure of the planetary gear. Three-dimensional modeling software and then build a model reducer, and the establishment of a virtual prototype planetary gear reducer for motion simulation,and processes the prototype of the planetary gear.According to the requirements of space manipulator's carrying capacity, this paper has checked the carrying capacity of the planetary reducer. Based on the concept of power flow analysed on planetary reducer, according to the efficiency of planetary gear three common methods of calculation, this paper analyses the efficiency of planetary gear.This paper built the necessary gear performance test bench, then through the run and load experiment has measured the efficiency of planetary gear,and get The experimental data . And compared the results of theoretical study, there are some differences between them. And the differences in the causes were analyzed. |
PDF Full Text Request