多自由度空间机构模块化关节研究  

Research on Modular Joint of Multi Degree of Freedom of Space Mechanism

作　　者：张庆利[1] 王悦[1,2] 张涛[1] 贾磊[1] 彭波[1] 穆星科[1] 

机构地区：[1]中国运载火箭技术研究院研究与发展中心,北京100076 [2]机器人技术与系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《机械与电子》2015年第3期74-77,共4页Machinery & Electronics

摘　　要：针对常规空间机器人及多自由度空间机构设计方法的不足,采用模块化设计思想,设计出集电机驱动、减速和传感等功能于一体的多自由度空间机构模块化关节,满足空间机构的轻质化、小型化、维护性及空间环境适应性设计要求。In view of the shortage of conven- tional design methods of space robot and other multi degree of freedom of the space mechanism, the method of modular design was adopted to de- sign a set of multi degree of freedom of the space mechanism modular joint with the collection of driving, deceleration and multi - sensor, which meets the requirements of the lightweight, minia- turization, maintenance and space environment a- daptability.

关 键 词：空间机器人 空间机构 模块化关节 多自由度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]