空间机械臂遥操作力觉操控手柄的设计与分析

Design and Analysis of Space Manipulator Force Control Handle

为了解决空间机械臂在执行任务时,空间机械臂一但产生较大的碰撞力,就会使机械臂甚至是航天器发生损坏,普通操控器单一的基于位置反馈,并不能为操作者提供力觉反馈从而不能保证对机械臂操控的安全性的问题。设计具有力觉反馈的临场感操控手柄,通过空间机械臂末端力传感器提供末端力觉信息,控制驱动电机使该力觉操控手柄能够提供六个自由度的接触力反馈给操作者,极大提高操作者操作精度和安全性,在操作过程中该设计为操作者提供空间机械臂末端的真实触感,从而使操作者的操控具有临场感,能够更安全、精准的完成操控任务。在结构上为了能够实现六自由度完备力觉反馈,提出使用三自由度并联机械手,混合一个三自由度的串连机械手组合结构形式,用以实现机械臂末端六自由度力觉反馈。结果表明,所设计的力觉操控手柄具有机械位姿分离的特性,该力觉操作手柄能够在ϕ120 mm×120 mm空间内跟随空间机械臂末端曲线运动,并提供X,Y,Z三个方向的3 N力反馈触觉,以及相应方向上0.2 N·m的扭转力矩。

In order to solve the task of the Space Manipulator,when the Space Manipulator generates a large collision force,the robot arm or even the spacecraft will be damaged.The single position feedback of the ordinary manipulator does not provide the operator with a sense of force.Feedback does not guarantee the safety of the manipulator.The design has a Force-sensing Feedback sensation control handle,and the end-force force information is provided by the space manipulator end force sensor,and the Force-sensing control handle can provide the 6-DOF contact Force Feedback to the operator by controlling the drive motor,thereby greatly improving the operator operates with precision and safety.During the operation,the design provides the operator with a realistic touch of the end of the space robot arm,so that the operator's control has a sense of presence and can be safely completed and accurately manipulated.In order to realize the complete 6-DOF Force Feedback,a 3-DOF parallel manipulator is proposed to mix a 3-DOF series manipulator to realize the 6-DOF Force Feedback of the end of the manipulator.The results show that the designed force sense control handle has the characteristics of mechanical pose separation.The force sense operation handle can follow the end of the space arm movement curve in the space ofϕ120 mm×120 mm and provide stable directions in X,Y and Z directions.The 3 N force feedback haptics have a 0.2 N·m Torque in the corresponding direction.