Research On Structural Design And Motion Control Of Space Robot Wrist Joint

The design and application of the robot wrist joint is of great significance.In this paper,a three-rotation degree spherical space robot wrist joint is proposed,and the modeling and motion control simulation of the space robot wrist joint is carried out,the experimental platform is designed for functional verification.The main work and achievements of the thesis include the following aspects:Firstly,the configuration is determined as 3-RRR parallel mechanism according to the working principle of the space robot wrist joint.The geometric relationship of the mechanism is analyzed and the variables are defined.The inverse kinematics equation of the robot is established by D-H matrix method,and the problem is solved by solving the problem solution.The two-point distance between the static coordinate system and the dynamic coordinate system is the same,and the kinematics positive solution model is established,and the analytical solution is given.The correctness of the kinematics model is verified by the kinematics forward and inverse solution algorithm written by Matlab,and the program can be used as part of the subsequent trajectory planning algorithm.Secondly,the traj ectory planning algorithm is analyzed and compared.The trajectory planning analysis of the robot is performed using the parabolic transition interpolation algorithm in the joint space.The simulation model is established by Matlab/Simulink and SimMechanics,and the impedance controller based on single joint impedance control is designed.SimMechanics was simulated.Then the structural design and component selection of the space robot wrist joint were given.The detailed design scheme of each part was given.The finite element analysis of the key components of the mechanism was carried out,and the mechanical design scheme and hardware selection of the robot were determined.Finally,the experimental platform was built.The trajectory planning experiment and impedance control experiment were carried out based on the wrist joint experimental platform.The validity of the algorithm was verified.The functionality of the wrist of the space robot was also verified.The space robot wrist joint was proposed.A number of indicators were tested and tested to ensure that the organization met the design requirements.In this paper,the design method and control theory of a space robot wrist joint from modeling simulation to motion control and realization are completed.It has universal reference and application value for the development of robot wrist joints.