Research/ ORBITAL ROBOTICS
Design and Verification of Mechatronics Angle Limit Device for Joint of Space Station Manipulator
Yun Zhang, Delun Li, Kang Wang, Xin Liu, Ming Chen, Chunling Shi
Manipulation & GraspingOpenAlex topic: Robotic Mechanisms and Dynamics · HRI & TeleoperationOpenAlex topic: Teleoperation and Haptic Systems · Autonomy, Task Planning & Operationstext match
The Manipulator of the Tian Gong Space Station has 7 joints. In order to complete the function and task of the manipulator, the rotation angle of each joint is greater than ±270°, which is much larger than the 360° motion range of general robots. In order to meet the requirements of joint rotation angle limit, a mechatronics angle limit device is designed, which has the functions of electrical limit and mechanical limit, and can meet the requirements of joint ±270° mechanical and electrical limit. The device has passed the functional experiment and life experiment, and is in good condition in on-orbit application, which has reference significance for realizing large angle limit of space robot joints.