Space manipulator modular driving joint

Abstract

A space manipulator modular driving joint comprises a motor driving assembly, a mechanical transmission assembly, a sensing control assembly and a structure supporting assembly. The motor driving assembly comprises a brushless DC motor, and the mechanical transmission assembly comprises a harmonic reducer and a planetary reduction gear. The sensing control assembly comprises an absolute position encoder and a driving controller. The structure supporting assembly comprises an input flange, a motor support, a bearing inner pedestal, a bearing outer pedestal, an output flange, a harmonic wave output shaft, a bearing end cover, a mechanical limiting block, a controller support and a controller shell. The space manipulator modular driving joint has the beneficial effects that the problems that in an existing space manipulator technology, a driving joint is low in precision, and the size and the weight of the joint are large are solved; modular design is adopted, the interchangeability between joints is good, and the refinement degree and the load capacity of space manipulators are improved.

Description

technical field [0001] The invention relates to the technical field of dexterous operation of a space station manipulator, in particular to a space manipulator modular drive joint. Background technique [0002] The modular drive joint of the space manipulator is the moving part of the space manipulator. Through the rotation and position control of the drive joint, the space manipulator realizes the addressing and positioning of the task target in the entire working space, and at the same time, it can assist the end-execution tool to complete the task. Grab, plug, rotate, etc. [0003] At present, the modular drive joint is the key stand-alone of the existing space manipulators at home and abroad, and it is an indispensable key equipment in the construction and operation of the space station. The arm has been widely used. Among the several types of manipulators on the International Space Station, the manipulator joints can be divided into two types: large drive joints and...

AI Technical Summary

Problems solved by technology

The transmission mode of the three-stage planetary reduction not only improves its load capacity, but also increases the volume and weight of the joint, which is a challenge to our country's existing carrying capacity.

ERA can be used to replace medium and small ORUs, assist astronauts in EVA activities, and conduct on-orbit inspections on the surface of cabin sections, etc. The required carrying capacity and terminal operation accuracy are not high

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