空间机器人柔性双臂机械臂试验台研制

M. Uchiyama, A. Konno, T. Uchiyama, S. Kanda
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引用次数: 44

摘要

介绍了一种柔性双臂机器人,该机器人是研究柔性手臂控制、耦合振动控制、协作双臂控制、多臂机器人遥操作等空间机器人技术的试验台。这个机器人被称为ADAM(宇航双臂机械臂)。在讨论了开发目标后,确定了机器人的规格,并在此基础上进行了详细的设计。因此,每个臂由两个柔性连杆组成,并有七个自由度,这些自由度的安排使得连杆的振动可以有效地控制。臂的每个关节由模块化差动齿轮与谐波传动减速齿轮驱动。讨论了差动齿轮的优点和缺点。最后,简要介绍了控制系统的结构
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Development of a flexible dual-arm manipulator testbed for space robotics
Describes a flexible dual-arm robot that has been developed as a testbed for the study on space robotic technologies such as flexible arm control, control of coupling vibration, control of cooperating dual arms, and teleoperation of robots with multiple arms. The robot is called ADAM (Astronautical Dual Arm Manipulator). After discussing the aim of the development, specifications of the robot are determined, on which details of the design are carried out. As a result, each arm consists of two flexible links and has seven degrees of freedom that are arranged so that the vibration of the links may be controlled effectively. Each joint of the arm is driven by modulized differential gears with harmonic drive reduction gears. The merits and the demerits of the differential gears are discussed. Finally, configuration of the control system is briefly described.<>
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