Space robot equipped with compliant linear actuator on end effector: simulations results

摘要

The space robotic operations require good control of contact tasks, especially when performing in-orbit servicing and debris removal tasks which require maintaining the contact between the robot and target throughout the duration of the grasping. Taking into account that a well-developed and verified control strategies of free floating robot realizing both the trajectory and contact control are difficult to realize and introduce constructional complexity to the space mechanism, a different solution is proposed and simulated: A simulated robot manipulator with a controller capable of path following in 2D free floating conditions is equipped with a single axis translational joint between the end effector and a simulated gripper tool. The translational joint is based on an electromagnetic linear actuator with controlled mechanical impedance intended for dealing with contact and maintenance between the manipulator and an inert target object. The practical construction of such electromagnetic actuator is presented and discussed along with characterization of its dynamic and mechanical properties obtained from the test. A simulation of a planar space robot equipped with such actuator at the end effector, coming into contact with an object is presented and discussed.