Four-degree-of-freedom inspection mechanical arm and control system and control method thereof

Abstract

The invention relates to a four-degree-of-freedom inspection mechanical arm and a control system and a control method thereof. The inspection mechanical arm is mounted at the top end of a load centralframework, and comprises an image acquisition device, a telescopic arm, a first rotating joint, a second rotating joint and a linear driving arm, wherein the telescopic arm is horizontally arranged,one end of the telescopic arm is connected to the top end of the load central framework in a rotating manner through the first rotating joint, and the other end of the telescopic arm is in vertical rotating connection with the upper end of the linear driving arm through the second rotating joint; and the image acquisition device is connected to the linear driving arm in a sliding manner and is driven by the linear driving arm to move upwards and downwards. The four-degree-of-freedom inspection mechanical arm and the control system and the control method thereof, provided by the invention, havethe advantages that circumferential rotating and linear running are combined together, so that the inspection mechanical arm can realize non-dead-corner inspection movement in space, can rapidly andaccurately arrive at a preset position in the working range and can be stably kept at the target position; and then, photographing or video recording is carried out by the image acquisition device carried at the bottom end.

Description

technical field [0001] The invention relates to the field of space robot control, in particular to a four-degree-of-freedom inspection robot arm and its control system and control method. Background technique [0002] With the rapid development of my country's aerospace industry, the demand for space manipulators continues to increase. According to the different installation positions, space manipulators can be divided into two types: in-cabin manipulators and out-cabin manipulators. Most of the robotic arms in the cabin serve tasks such as grabbing, maintaining and replacing the internal equipment of the spacecraft. The working range and body size are relatively small, and the operation is flexible. The extravehicular robotic arm is mainly used for spacecraft assembly, maintenance and fuel supply, as well as space exploration and space experiments. According to different objects and task requirements, its configuration is also quite different, and the number of degrees of ...

AI Technical Summary

Problems solved by technology

During the working process of the space manipulator, it takes a lot of time to suppress the vibration, especially in space conditions, without air damping, the dis

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