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《Spacecraft Engineering》 2009-03
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Design of Multi-joint Light Manipulator

LI Shiqi1 LIU Yang1 ZHU Wenge1 LIU Yan2 JIA Yang3(1 School of Mechanical Science and Engineering, Huazhong Univ.Sci.&Tech., Wuhan 430074, China)(2 College of Science, Naval Univ. of Engineering, Wuhan 430033, China)(3 Beijing Institute of Spacecraft System Engineering, Beijing 100094, China)  
After comparing several designs of light manipulator, a new space manipulator with 6-DoFs is designed by a 2-DoFs robot module which gets some advantages from previous robots. There are two joints in one module, which are perpendicular to each other. And there is no driver in a module and a main shaft with high speed in the manipulator as an energy supplier for a joint. The joint controlled by the controller are mounted in the joint which gets the direction from the upper-end computer. A program for virtual scene simulation runs in the upper-end computer. The trajectory of the end of manipulator can be created by the virtual manipulator running, and then the joint is controlled based on the joint working state table. Subsequently, for the strength and stability of dynamics of the manipulator, a FEM model of the manipulator is built. The result of simulation presents that the maximum stress is less than the limitation of the material and the natural frequency is far away from the energizing frequency without resonace. Through several joints working together,this manipulator with posture alignment can be used for some complex tasks,such as in-orbit maintenance or refueling.
【Fund】: CAST创新基金项目(CAST200625)
【CateGory Index】: TP241
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