Development of High Integration Modular Joint for Space Manipulator

史士财 1; 谢宗武 1; 倪风雷 1; 刘宏 1; 2

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Development of High Integration Modular Joint for Space Manipulator

更新时间：2025-12-08

- Development of High Integration Modular Joint for Space Manipulator
- Vol. 41, Issue 2, Pages: 162-166(2007)
- 作者机构：
  
  哈尔滨工业大学机器人研究所,哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP24
- Online First：10 February 2007，
  
  Published：2007
- 稿件说明：
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史士财 1, 谢宗武 1, 倪风雷 1, et al. Development of High Integration Modular Joint for Space Manipulator[J]. 2007, 41(2): 162-166.
DOI：

史士财 1, 谢宗武 1, 倪风雷 1, et al. Development of High Integration Modular Joint for Space Manipulator[J]. 2007, 41(2): 162-166. DOI：

摘要

采用大中心孔设计方法成功地研制了高集成度空间机械臂模块化关节.该关节具有多种传感器

包括位置传感器、力矩传感器、温度传感器等

它的所有电气系统都集成在关节内部

包括传感系统、驱动系统、控制系统和电源系统.采用中心孔走线方式实现了关节的内部走线

避免了空间环境对导线及其传输信号的影响.针对所设计的关节进行了必要的关节性能实验

结果表明该模块化关节具有高刚度、大负载特点

其关节的位置输出能精确跟踪期望的轨迹

位置精度非常高

达到了0.01°.

Abstract

Based on big central hole design method

a space manipulator modular joint is developed

which includes many sensors

such as position sensor

torque sensor and temperature sensor. All the electrical systems are integrated in the modular joint

including sensors system

driver system

control system and power system. In order to avoid the effect of space environment on the cables and their signals

all the cables are laid through the central hole of the modular joint. The results of joint performance tests show that the modular joint possesses many good abilities

such as high stiffness

big load and very high control precision approaching to 0.01°.

关键词

Keywords

references

Yim M, Roufas K, Duff D, et al. Modular reconfigurable robots in space applications [J]. Autonomous Robots, 2003, 14(2):225-237.

Hirzinger G, Landzettel K, Brunner B, et al. DLR's robotics technologies for on-orbit servicing [J]. Advanced Robotics. 2004, 18(2):139-174.

Hirzinger G, Sporer N, Albu-Schaffer A, et al. DLR's torque-controlled light weight robot III -are we reaching the technological limits now? [C]∥Proceedings of the 2002 IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2002:1710-1716.

Gibbs G, Sachdev S. Canada and the international space station program: overview and status [J]. Acta Astronautica,2002,51(2):591-600.

Hirzinger G, Albu-Schaffer A, Hahnle M et al. On a new generation of torque controlled light-weight robots[C]∥Proceedings of the 2001 IEEE International Conference on Robotics Automation. Piscataway, USA:IEEE, 2001:3356-3363.

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