Research On End Cutting Tool And Operation Control Of Manipulator

With the development of aerospace industry and the increasing frequency of aerospace activities,the number of spacecraft failures due to failures is increasing.The waste faulty spacecraft becomes the space garbage,which not only causes the waste of economy and time,but also brings the hidden danger to the normal operation of other spacecraft.For this situation,the research and development of unmanned on orbit maintenance system based on mechanical arm has become an important research content in various countries.The purpose of this paper is to design a cutting tool for the end of a manipulator,which can be used to realize the space on orbit maintenance task of a failed spacecraft.According to the task and index requirements of cutting satellite cabin and solar wing sail,a vibration cutting tool is developed.The operation control of the tool and the manipulator is studied and simulated by Adams.The feasibility of the tool design is verified by the ground test.In this paper,the prototype of vibration cutting tool is developed.The design scheme and basic parameters of the tool are determined by analyzing the material size characteristics of each solar wing base plate.On this basis,the structural design of the tool,the design of the transmission mechanism,the check of the shaft bearing,the dynamic balance of the motor shaft,and the optimization and weight reduction of the whole machine are carried out,and the prototype development of the tool is completed.In order to achieve the smooth contact between the tool and the cutting target and prevent the damage of the tool saw blade,this paper studies the flexible control method of the manipulator.Adaptive control is adopted: impedance control is adopted to eliminate attitude error,make the relative attitude of tool and target stable,and realize smooth contact;direct force control is a dopted to realize the tracking of required cutting force.The robustness to dynamic uncertainty is realized by adaptive motion control,and the global stability and the convergence of tracking error are proved by Lyapunov method.In order to verify the feasibility of the tool design and control method,a simulation model and a ground test platform are built.The effectiveness of the control method is verified by Adams Simulink joint simulation.The cutting test of the canvas is carried out by the ground test device.The results show that the cutting tool and control algorithm designed in this paper can effectively complete the cutting operation of the canvas and meet the requirements of the target and task.