A space super-redundant drive manipulator and assembly method

Abstract

The invention discloses a spatial hyper-redundant drive manipulator. According to the spatial hyper-redundant drive manipulator, the manipulator extension function is realized in the form of cascade connection between a main manipulator and an auxiliary manipulator; meanwhile, the manipulator redundant operating capability is greatly improved; the realization form is relatively simple and reliable; and the operating functions and the operating performance of the original manipulator are not influenced. According to an on-orbit assembling method of the spatial hyper-redundant drive manipulator, all joints of the main manipulator and the auxiliary manipulator can be uniformly planned and controlled by a central controller of the main manipulator; such a time-sharing control manner that coarse positioning operation is performed at the first 7 degrees of freedom as well as fine positioning operation and the like are performed at the last 6 degrees of freedom can be adopted; compared with 13-degree-of-freedom redundant operation, the time-sharing control manner has the advantage that the operation control difficulty can be greatly reduced under the premise that the operation precision is guaranteed; and meanwhile, the three intermediate joints are shared, so that the space resource utilization ratio is greatly improved.

Description

technical field [0001] The invention relates to the technical field of space manipulators, in particular to a space super-redundant drive manipulator and an assembly method. Background technique [0002] At present, the space manipulators used in orbit mainly adopt the single-arm design method, and the number of degrees of freedom generally does not exceed 7. It has relatively fixed operating capabilities, and is limited by the ground launch capability. The length of the arm is generally shorter than that of the cabin. , the number of degrees of freedom is relatively small, resulting in a very limited working space when the base of the manipulator is fixed or when performing cargo handling operations. Some parts are too far away and cannot be reached, and some parts are unreachable due to obstacle interference constraints. . Contents of the invention [0003] In view of this, in order to overcome the shortcomings of existing space manipulators in terms of length and redun...

AI Technical Summary

Problems solved by technology

[0002] At present, the space manipulators used in orbit mainly adopt the single-arm design method, and the number of degrees of freedom generally does not exceed 7. It has relatively fixed operating capabilities, and is limited by the ground launch capability. The length of the arm is generally shorter than that of the cabin. , the number of degrees of freedom is relatively small, resulting in a very limited working space when the base of the manipulator is fixed or when performing cargo handling operations. Some parts are too far away and cannot be reached, and some parts are unreachable due to obstacle interference constraints.

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