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A device for suppressing vibration of space robot end effector

A technology of end effectors and space robots, applied in the field of aerospace, can solve problems such as difficult vibration suppression, and achieve the effect of small impact

Active Publication Date: 2020-09-04
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the vibration of the six degrees of freedom of the end effector of the space robot is difficult to suppress, the present invention provides a vibration suppression device based on momentum exchange, so that the joint motor of the space robot does not need to deal with the vibration problem of the end effector

Method used

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  • A device for suppressing vibration of space robot end effector
  • A device for suppressing vibration of space robot end effector
  • A device for suppressing vibration of space robot end effector

Examples

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Embodiment Construction

[0015] The overall structure is as figure 1 As shown, the fixed frame 4 is a cubic structure, and six translational damping units 3 , three rotational damping units 2 and a controller 1 are fixed thereon. There are two translation damping units 3 in one group, and the installation direction of the two is the same, and they are symmetrical about the center of mass of the end effector, so as to ensure that the translation damping units 3 do not interfere with the attitude stability of the end effector. The installation directions of the three rotation damping units 2 are vertical in pairs. The translational damping unit 3 is connected to the fixed frame 4 through a pair of pressure sensors 11, the motor 10 of the rotary damping unit 2 is fixed on the fixed frame 4, a part of the potentiometer 5 is fixed on the fixed frame 4, and a part is fixed on the momentum wheel 6 on.

[0016] The structure of the rotation damping unit 2 is as follows: figure 2 As shown, the motor 10 is ...

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Abstract

The invention provides a device used for suppressing vibration of an end effector of a space robot, and belongs to the field of spaceflight. The device comprises six translational damping units, three rotary damping units, a controller and a fixed frame; and the external contour of the device is a cube, the translational damping units are mounted on the six edges correspondingly, the rotary damping units are mounted in the inner portion, the mounting directions of each two rotary damping units are perpendicular to each other, and the controller is fixed inside the fixing skeleton. According to the device for suppressing vibration of the end effector of the space robot, the vibration suppressing effect in six degrees of freedom including the directions of translation and rotation on the end effector of the space robot can be achieved by utilizing rapidly-changed force and torque generated by an exchanger.

Description

technical field [0001] The invention belongs to the field of aerospace technology, in particular to a device for suppressing the vibration of the end effector of a space robot. Background technique [0002] At present, with the diversification and refinement of space missions, astronauts are no longer enough to handle all space missions, so space robots play an increasingly important role in space missions. Due to the trade-off between launch cost and mission requirements and the consideration of the weightlessness factor in space, space robots have longer and thinner connecting rods and lighter and more flexible joint mechanisms than ground robots, which lead to space robots having a non-negligible Structural flexibility, including link flexibility and joint flexibility. Connecting rod flexibility and joint flexibility are the main limiting factors that limit the robot to achieve a satisfactory trajectory, so the vibration caused by it needs to be suppressed. The purpose ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/0091
Inventor 袁建平车德佳
Owner NORTHWESTERN POLYTECHNICAL UNIV
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