TY - GEN
T1 - Development of modular joints of a space manipulator with light weight and wireless communication
AU - Han, Liang
AU - Luo, Can
AU - Cheng, Xiangliang
AU - Xu, Wenfu
N1 - Publisher Copyright:
© Springer International Publishing AG 2017.
PY - 2017
Y1 - 2017
N2 - Due to a large number of electrical cables in the joints of traditional space manipulator, the assembly, testing and maintenance are very inconvenient. In this paper, a modular joint with light weight and wireless communication link is developed to solve the above problem. The performance of the joint is firstly determined according to task requirement. Then, the mechanical structure is designed to meet the performance requirement. It is mainly constructed by a brushless DC motor, harmonic reducer, bearing, and supporting structure. The electrical sub-system includes sensors, servo controller and WIFI communication link. Multiple sensors, including three hall sensors, an incremental magnetic encoder, an absolute magnetic encoder, and a torque sensor are installed in the joint. The vector control is used for motor. The WIFI communication link is designed for the communication between the central controller and the servo controller. Therefore, the task command can be sent through the WIFI link. Electrical cables between the central controller and joint servo controller are not required. Finally, the developed joint is tested on a test platform. The experimental results verify the performance of the joint.
AB - Due to a large number of electrical cables in the joints of traditional space manipulator, the assembly, testing and maintenance are very inconvenient. In this paper, a modular joint with light weight and wireless communication link is developed to solve the above problem. The performance of the joint is firstly determined according to task requirement. Then, the mechanical structure is designed to meet the performance requirement. It is mainly constructed by a brushless DC motor, harmonic reducer, bearing, and supporting structure. The electrical sub-system includes sensors, servo controller and WIFI communication link. Multiple sensors, including three hall sensors, an incremental magnetic encoder, an absolute magnetic encoder, and a torque sensor are installed in the joint. The vector control is used for motor. The WIFI communication link is designed for the communication between the central controller and the servo controller. Therefore, the task command can be sent through the WIFI link. Electrical cables between the central controller and joint servo controller are not required. Finally, the developed joint is tested on a test platform. The experimental results verify the performance of the joint.
KW - Light weight
KW - Modular joint
KW - On-orbital servicing
KW - Space manipulator
KW - Wireless communication
UR - https://www.scopus.com/pages/publications/85028301477
U2 - 10.1007/978-3-319-65298-6_58
DO - 10.1007/978-3-319-65298-6_58
M3 - 会议稿件
AN - SCOPUS:85028301477
SN - 9783319652979
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 650
EP - 661
BT - Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings
A2 - Liu, Honghai
A2 - Huang, YongAn
A2 - Wu, Hao
A2 - Yin, Zhouping
PB - Springer Verlag
T2 - 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017
Y2 - 16 August 2017 through 18 August 2017
ER -