空间机械臂末端快换系统及工具的设计与研究

发布时间：2018-04-09 19:24

本文选题：快换系统　切入点：标准接口　出处：《哈尔滨工业大学》2017年硕士论文

【摘要】：随着太空资源的开发以及对空间未知领域的探索,越来越多繁杂的空间开发任务亟待人们去解决,为了更好地完成这些任务,各种各样的专用操作工具被设计出来并应用到空间任务中。为了配合空间机械臂系统更好的完成各种在轨任务,减少完成空间任务的成本,一般会给一个机械臂系统配备多个不同的末端操作工具。所以针对空间机械臂研制一种一端与机械臂末端固连,另外一端携带工具的功能齐全、安全可靠、高效率的快换系统是非常必要的,它对于空间机械臂系统完成在轨维护任务以及减少在轨维护的成本等方面都具有十分重大的意义。首先,本文根据机械臂的实际情况提出了快换系统的技术要求;对快换系统进行了整体的功能分析,按照不同的模块分别讨论其机械结构以及实现功能的方式与可行性;然后对设计要求中提出的指标参数进行理论分析计算,最后结合有限元分析软件对关键零部件进行校核仿真分析,验证设计的合理性。其次,针对快换系统中的外接工具模块,重点设计了一种剪切线缆的剪刀工具和一种切割太阳能帆板的切削工具。针对两种操作工具的具体工作任务和工作环境等因素,明确工具的参数要求;着重针对切削工具的刀头进行设计,对剪刀工具的剪切力以及虎口的张开程度进行分析。再者,分析了快换系统和外接工具之间的标准接口的容差能力,确定了最大容差范围;利用相关软件进行模拟仿真实验;最后结合实验室的库卡机械臂平台进行了实验验证。最后,针对对接过程进行过程分析;然后对机械臂系统的各个关节进行数学建模,从而得出各个关键参数对机械臂控制精度的影响;结合对接实验以及切削加工实验,对其中一部分参数对机械臂控制的影响进行实验验证,以保证理论推导及软件仿真的可行性以及正确性。
[Abstract]:With the development of space resources and the exploration of unknown space, more and more complex space development tasks need to be solved.A variety of specialized operating tools are designed and applied to space missions.In order to cooperate with the space manipulator system to complete all kinds of on-orbit tasks and reduce the cost of completing the space tasks, a robot arm system is usually equipped with many different terminal operation tools.Therefore, it is very necessary to develop a fast switching system for space manipulator with one end fixed to the end of the arm and the other end carrying tools with complete functions, safety and reliability, and high efficiency.It is of great significance for the space manipulator system to complete the on-orbit maintenance task and to reduce the cost of on-orbit maintenance.Firstly, according to the actual situation of the manipulator, this paper puts forward the technical requirements of the fast-changing system, analyzes the whole function of the fast-changing system, discusses its mechanical structure and the way and feasibility of realizing the function according to the different modules.Then the parameters proposed in the design requirements are theoretically analyzed and calculated. Finally, the key parts are checked and simulated with the finite element analysis software to verify the rationality of the design.Secondly, aiming at the external tool module in the fast changing system, a shearing cable scissors tool and a cutting tool for cutting solar panels are designed.Aiming at the specific work task and working environment of the two kinds of operating tools, the parameter requirements of the tools are defined, and the cutting head of the cutting tools is designed, the shear force of the scissors tools and the opening degree of the tiger's mouth are analyzed.Thirdly, the tolerance ability of the standard interface between the fast-changing system and the external tool is analyzed, and the maximum tolerance range is determined. The simulation experiments are carried out by using the related software. Finally, the experiment is verified by the Kuka manipulator platform in the laboratory.Finally, the process analysis of the docking process is carried out; then the mathematical modeling of each joint of the manipulator system is carried out, and the influence of each key parameter on the control accuracy of the manipulator is obtained; combined with the docking experiment and the cutting experiment,In order to ensure the feasibility and correctness of theoretical derivation and software simulation, the effect of some parameters on manipulator control is verified experimentally.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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