Space Manipulator Joint Design And Control Of Mechanicial And Electrical Integration

Manipulator system is very pivotal and important project of Spacestation, general manipulator is listed as one of the key technologies of spacestation. Subject to design requirements and system function configurationdemand as the basis, focusing on the design and control of manipulator joint.The Manipulator system has two arms. One is the big arm equipped oncore cabin which can operate the large load and large inertia. The other is thesmall arm equipped on experiment cabin which can operate narrowly.Although the target requirements of the two arms are different, but the basiccomponent are identical. They both have seven joints, two arm poles, twoextremity effect mechanisms and the vision control.As the importantcomponent of the space manipulator, the integrated and intelligent degree ofthe integration and module joint has directly influenced the precision degreeof the manipulator control. It is a continuously issue in the space robotresearch fi eld.Currently, although many works have been done on the jointdevelopment in domestic, but these works still are in the laboratorylevel.According to the target requirements of building our space station, thespace activities including the assembling,installing and maintaining of thestation couldn’t depart the participation of the space manipulator. As theresult, it is necessary to launch the relational research on the arm joint toprovide the joint with high intelligent, integration, reliability, compactedstructure and environment adaptation for the experiment cabin in the future.According to the repairing design requests, in the point of generalconstitution, this article has demonstrated the integrated and module joint design which can be maintained and replaced with the participation of theastronauts. Simultaneously, this article also has applied the Compliancecontrol method and the process of operation and control of each phases on thestudy of the single joint control arithmetic etc.