Design and Experiment of Modular Hyper-redundant Space Manipulator

doi:10.13973/j.cnki.robot.210208

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	Design and Experiment of Modular Hyper-redundant Space Manipulator
	Y. Li; Q. Huo; A. Li; S. He; E. Zhang; H. Sai; M. Zhu and Z. Xu
刊名	Jiqiren/Robot
	2022
卷号	44 期号:1 页码:55-65
ISSN号	10020446
DOI	10.13973/j.cnki.robot.210208
英文摘要	A modular hyper-redundant space manipulator with 9-DOF (degree-of-freedom) is designed for the requirements of space on-orbit service tasks. The designed manipulator is composed of 9 identical manipulator joints, and the number of joints can be adjusted according to the task requirements. The modular joint is of an integrated design, and the mechanical transmission part and electrical part are reasonably arranged in the joint. Based on the improved Bi-RRT (bidirectional rapidly-exploring random tree) algorithm and the established forward and inverse kinematics models of the manipulator, the simulation and experiment of the manipulator crossing the complex obstacle environment are carried out. The experimental results show that the designed manipulator can cross the obstacle environment flexibly. Based on the impedance control algorithm, the writing experiment and the constant force holding experiment are carried out with the manipulator, respectively. The experimental results show that the manipulator has a good force control ability. The above experiments verify that the designed manipulator has the ability to perform on-orbit service in the complex space environment. 2022, Science Press. All right reserved.
URL标识	查看原文
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/66520]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	Y. Li,Q. Huo,A. Li,et al. Design and Experiment of Modular Hyper-redundant Space Manipulator[J]. Jiqiren/Robot,2022,44(1):55-65.
APA	Y. Li.,Q. Huo.,A. Li.,S. He.,E. Zhang.,...&M. Zhu and Z. Xu.(2022).Design and Experiment of Modular Hyper-redundant Space Manipulator.Jiqiren/Robot,44(1),55-65.
MLA	Y. Li,et al."Design and Experiment of Modular Hyper-redundant Space Manipulator".Jiqiren/Robot 44.1(2022):55-65.