Development Of Test System For Dynamic Performance Of Soft Contact Manipulator

On-orbit service technology is mainly for space station construction,spacecraft maintenance and repair and other space missions.Which can not only guarantee the normal operation of the spacecraft,but also reduce the loss caused by the failure of the spacecraft.Great research value and application prospect have been found in the on-orbit service technology,and it is a hot research topic in the field of space robot technology.In on-orbit service,the space manipulator is the main execution unit,which plays a key role in the process of space rendezvous and docking.In this paper,a dynamic performance testing system is developed for the manipulator with soft contact function,in which the dynamic performance test of the key components including the mechanical arm and the controllable damping unit can be realized.The research content of this dissertation is supported by the National Natural Science Foundation of China(51305039)and Central University basic scientific research business expenses special fund project(2014PTB-00-01),specific work is as follows:First of all,the research status of space rendezvous and docking,space manipula-tor,soft touch technology and controllable damper technology,is summarized in this paper,and the research background and the foundation of the research are pointed out;Secondly,the joint structure and working principle of the soft contact manipulator are analyzed.The structure and the influence factors of mechanical properties of the linear magneto rheological damper and the rotating magneto rheological damper which are the flexible components in the soft contact manipulator are studied.A dynamic model of the soft contact manipulator is presented based on the Kaine equation,the simulation results are compared with MATLAB and Adams software,which verifies the validity of the dynamic model.And then,the dynamic simulation analysis of the impact of three kinds of working conditions,rigid mode,elastic model and elastic/damping mode,is carried out,by using Adams.With the results,buffering and unloading capacity of the soft contact manipulator after collision are proved.Correspondingly,the dynamic performance test system of a flexible contact arm is designed,by testing the coupling force between the manipulator and the base,the damping and unloading effects of the soft contact manipulator are verified.Finally,the dynamic performance test system is designed for the linear magneto rheological damper.The relationship curves of damping force-velocity,damping force-displacement and damping force-control current are tested with the test system;the dynamic performance test system is designed for the rotating magneto rheological damper.The relationship curves of damping torque speed and damping torque-control current are tested with the test system.The results show that the two kinds of dampers both have the characteristics of controllable damping.The test data can provide a reliable basis for the further realization of the model identification of the damper.