Design And Configuration Research Of Recongigurable Space Modular Manipulator

With the accelerated pace of human space exploration,spacemanipulator need to perform more and more types of tasks.Conventional space manipulator have a fixed configuration and are mostly designed for a particular type of mission,requiring a new manipulator to be designed for launch into space if the type of mission changes.To address this problem,this thesis carries out research on reconfigurable space modular manipulator,whose configuration can be changed according to the different tasks,the overall modular design,overcoming the shortcomings of traditional space manipulator with a single type of task and poor maintainability.Because of its variable configuration,the fast kinematic modeling and configuration selection after configuration transformation are also studied.Based on the demands of the assignment,the key technical indicators were analysed in detail,based on which the reconfigurable space modular manipulator was designed.The joints are modular in design,integrating motor,reducer,sensor and driver into a single whole.In order to realise the autonomous change of configuration of the manipulator,an automatic interface is designed.The interface can automatically complete the mechanical locking and electrical connection between the two connecting modules.The interface has genderless characteristics,which means that no distinction is made between the active and passive sides,simplifying the reconfiguration process.The designed joint modules were subjected to assembly tests,torque and position accuracy tests,and functional tests of the interfaces,and the experimental results showed that the modules met the design specifications.In view of the variable configuration of the reconfigurable modular manipulator,the fast kinematic modeling of the reconfigurable modular manipulator is studied.The modules are divided and the configuration matrix is obtained by improving the correlation matrix of graph theory to represent the configuration of manipulator.The kinematics model of each module is established according to screw theory.Then the forward kinematics model of the whole manipulator is established by combining the configuration matrix and the kinematics model of each module,and the accuracy of the method is verified by D-H method.The inverse kinematics is solved by the NewtonRaphson iterative method.In order to solve the problem of selecting a suitable configuration from many configurations to perform current tasks,the configuration of the manipulator is studied.The self-reconstructed six-degree-of-freedom(6-DOF)manipulator are screened,research into the performance of qualified manipulator configurations.Investigating the workspace of each configuration using the Monte Carlo method.Trajectory planning and analysis of relevant parameters variation during motion for each configuration using fifth order polynomial interpolation.ADAMS simulations were performed to investigate the dynamics properties of each configuration.Finally,all performance indexes are integrated to provide reference for configuration selection of 6-DOF manipulator during task execution.