Design of a space dual-arm robot and its ground microgravity simulation platform

摘要

As The Chinese space station is put into use, the operation and maintenance of the space station inside and outside the cabin is a lot of work. In order to make astronauts have more time for scientific research experiments, a lot of routine maintenance and operation need to be replaced by space robots. Because of its human-like structure, the dual-arm robot is most suitable for the spatial structure environment. Based on this requirement, this paper proposes a space robot with 7 degrees of freedom in each arm, and designs its arm configuration and mechanical structure. In order to adapt to the characteristics of space microgravity environment, a dynamic calculation method of robot floating in space is presented. Finally, a passive suspension microgravity environment simulation platform with five lifting points was designed for the microgravity simulation test.