空间机械臂在轨快换高精度模块化关节的研制
Design of Space Manipulator On-orbital Reconfigurable High Accuracy Modular Joint
作者：孙敬颋(哈尔滨工业大学 机器人研究所 机器人技术与系统国家重点实验室)；史士财(哈尔滨工业大学 机器人研究所 机器人技术与系统国家重点实验室)；郭闯强(哈尔滨工业大学 机器人研究所 机器人技术与系统国家重点实验室)；刘宏(哈尔滨工业大学 机器人研究所 机器人技术与系统国家重点实验室)
Author：Sun Jingting(State Key Lab. of Robotics and System,Robot Research Inst.,Harbin Inst. of Technol.)；Shi shicai(State Key Lab. of Robotics and System,Robot Research Inst.,Harbin Inst. of Technol.)；Guo Chuangqiang(State Key Lab. of Robotics and System,Robot Research Inst.,Harbin Inst. of Technol.)；Liu Hong(State Key Lab. of Robotics and System,Robot Research Inst.,Harbin Inst. of Technol.)
收稿日期：2011-03-23 年卷（期）页码：2012,44(1):209-214
期刊名称：工程科学与技术
Journal Name：Advanced Engineering Sciences
关键字：空间机械臂；在轨快换；模块化；高精度；关节
Key words：space manipulator; on-obital reconfigurable; modular; high accuracy; joint
基金项目：科技部“863”计划资助项目(2006AA04z228 )
中文摘要
研制了一种高输出力矩可实现高速比、高控制精度的在轨可维护模块化关节。首先对高负载空间机械臂进行了动力学仿真，计算出关节力矩需求。其次，确定直流无刷舵机串联谐波减速器的传动方案。直流无刷舵机本身的齿轮传动误差经过谐波传动可以忽略，又有效提高了速比；输出端谐波减速器使关节在满足力矩需求的同时，具有很高负载自重比和传动精度，整个关节的机械回差可控制在1 arc min以内。在机械精度得以保证的同时，设计了基于FPGA的空间机械臂关节硬件控制器，完成高精度传的感器信息采集处理以及关节的闭环控制，以达到3 arc
英文摘要
A newly designed space manipulator on-obital reconfigurable modular joint was described. The rated joint torque requriement was calculated based on the manipulator task dynamic simulation.The drive chain of the joint consisted of DC motor, gearbox, and harmonic drive giving the joint high weight/load ratio and high accuracy whose mechanical error is less than 1 arc min. A high accuracy joint control system was developed based on FPGA which could get accurate sensor information.The calbes go through the core of joint and the electronic board is mounted in the inner housing of joint.These features above give the joint a higher compactablility.The joint could be mounted or dismounted on-orbital which allows the manipulator service permanently on space.At the end, the performance of the joint prototype was tested on special testbed by using PD control.
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