Design and Research of a Novel Fast Connecting and Separating Modular Space Manipulator

摘要

With the increasing complexity of the space mission, the ability of fast reconstruction of manipulator is more and more important. To solve the problem of space manipulator's fast reconstruction, this paper designs a novel manipulator that contains mechatronics modular joints and a connecting mechanism. Compared to the traditional manipulator, the manipulator in this paper have the advantage of great convenience of assembling and replacement of the modular joint. In this paper, we analyze the relationship between tolerance ability and structural parameters and computed the tolerance ability after optimization of the connecting mechanism; Using the perturbation method, we conducted the simulation of analysis error. Results show that relationship between the end position error and the error of the modular joints is approximate linear, which providing a theory instruction for the design of manipulator.