Title :
An integrative design for space manipulator joint
Author :
He, Yu ; Jiang, Jun ; Jiang, Zhihong ; Li, Hui ; Huang, Qiang
Author_Institution :
Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China
Abstract :
The space manipulators are widely used in space exploration tasks and the technology develops quickly as well. The integrative space joint design is one of the key technologies of space manipulator. It can realize small volume, light weight, high performance by designing the motor, control module, driver module, measure module and thermal control module as a whole. This paper shows a kind of integrative design for space joint which can realize dual-redundancy detection for motor rotor and joint positions and can also improve position detection precision and noise immunity by difference principle. In addition, the isothermal design is adopted at joint thermal control. Finally, the experimental data is shown to prove the joint has excellent performance to meet the requirement of space manipulator.
Keywords :
aerospace robotics; manipulators; temperature control; control module; driver module; dual redundancy detection; integrative space joint design; isothermal design; measure module; motor rotor; position detection precision; space exploration tasks; space manipulator joint; thermal control module; Aerospace electronics; DC motors; Joints; Manipulators; Permanent magnet motors; Synchronous motors; Temperature control; Integrative joint; Space Manipulator; thermal control;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554515