Study on Design Techniques for Robots (Space Applications). Volume 1. Part A: Technical Results

摘要

A space manipulator system is defined, and the kinematics and dynamics of the system are outlined. A system with seven degrees of freedom, rotating joints, electrical actuation, a toroidal work area, and planar/rotational maneuvering is advocated. Its basic application is servicing and maintenance of low Earth orbit platforms for materials processing. The fully extended arm must be able to move a 750 kg payload at 0.02 m/sec. A dedicated programming system must be defined for collision and obstacle avoidance.