Research and Design of Space Manipulator System Based on Telescopic Arm

摘要

The smaller envelope of space manipulator system is often required during the launch phase, while the lager range and higher precision for operation is needed in the space application stage. It is difficult for a single manipulator to meet the above requirements. To solve this problem, a self-reconfigurable space manipulator system with telescopic rod is proposed. When the manipulator is in the contracted state, the envelope is small and the operation precision is high; however, when the manipulator is in the extended state, it can reach a large operation range. This paper presents a equal-section arm telescopic mechanism, which can realize the extension and contraction of arms by the horizontal strip and the vertical strip being engaged and locked with each other. And the parameters of the telescopic mechanism and the stiffness of the rod are analyzed and simulated, which shows that it has the characteristics of high stiffness and high telescopic ratio. Finally, aiming at the target operating conditions in the narrow space, the manipulator motion planning simulation analysis is carried out. The simulation results show that the design of the equal-section telescopic rod can improve the adaptability of the space manipulator system.