Design and Modeling of Three Joint Mechanical Arm Based on the Free Floating Space Robot Project

Abstract:

The frequence and complex of space exploration activeities makes the life of the spacecraft and on-orbit service technologies becoming research hotspot in recent years. But the limitation of non-renewable fuels makes exploration mission costly and maintenance difficult, so the free floating space robot has its unique advantages. Because the research level and control technology is not maturity, study on the free floating space robot control method is the key theory and technology which is the difficulty that our country now needs to overcome, also, the research is of great theoretical and practical significance. This paper introduct an experiment scara mechanical arm based on the free floating space robot project. Main research contents of this paper include the mechanical structure design, and combining with the characteristic of the free floating mechanical arm , it makes kinematics and dynamics modals of the mechanical arm system, additional, it conduct statics test and dynamic modal analysis, which is to make sure that the mechanical arm could satisfy needs and to study its dynamic characteristics.This topic focus on structure design and mathematical modeling of the mechanical arm, it makes the research of control method and trajectory planning no longer stay on the paper, and makes the research more authenticity and accuracy.

• Periodical: Key Engineering Materials (Volume 621)
• Pages: 533-539
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.621.533
• Online since: August 2014
• Authors: Xi Zhang*, Da Qi Wu
• Keywords: Mathematical Modeling, Plane Mechanical Arm, Structure Design

References

[1] F.H. Zhang: Research on Motion Planning and Control of Free Floating Space Robot or Iented to On-orbit Service. (Ph.D., Harbin Institute of Technology, China 2010), pp.17-33.

[2] T. Zh. Ran: Research on Trajectory Planning of Free-floating Space Robot With Vehi Attitude Zero-Disturbance. (MS., Harbin Institute of Technology, China 2007), pp.17-36.

[3] B.R. Hong, Ch.A. Liu and H. Liu: Free flying space robot motion control and simulation(National Defence Industry Press, China 2005).

[4] Zh.W. Zheng: Noholonomic Motion Planning of Space Manipulator With Floating Vehicle. (MS., Harbin Institute of Technology, China 2007), pp.9-38.

[5] Q.L. Zhao, Q. Zh. Zhang and X. Sh. Ge: Journal of Beijing Institute of Machinery, Vol. 20(2005) No. 2, pp.1-4.

[6] G. Hirzinger, B. Brunner, R. Lampariello, et al. IEEE international Conferenceon Robotics and Automation( San Francisco, 2000)Vol. 1, pp.898-907.

[7] J.W. Zhang: Analysis and Optimization of the Structure of 4-DOF SCARA Robot. (MS., Northeastern University, China 2008), pp.59-66.

[8] S. Guo: Design and Simulation Analysis on Kinematics and Dynamics of Planar four-DOF assembly robot arm. ( MS., Shanghai Jiao Tong University, China 2007) pp.30-50.