Copertina

Mechanical Design and Kinematic Analysis of an Autonomous Wrist with DC Motor Actuators for Space Assembly

Salvato in:
Pubblicato in:Actuators vol. 14, no. 11 (2025), p. 542-559
Autore principale: Nguyen, Charles C
Altri autori: Ngo Ha T. T., Duong, Tu T, C, Nabili Afshin
Pubblicazione:
MDPI AG
Soggetti:
National Aeronautics & Space Administration > NASA
Canada
Japan
Kinematics
Closed form solutions
Electric motors
Payloads
Robots
Newton-Raphson method
Space stations
International Space Station
Linear algebra
Robotics
Ball screws
Aircraft
Design analysis
D C motors
Kinematic equations
Robot dynamics
Robot arms
Sensors
Inverse kinematics
Manipulators
Wrist
Design
Astronauts
Actuators
Accesso online:Citation/Abstract
Full Text + Graphics
Full Text - PDF
Tags: Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
Abstract:This paper deals with the mechanical design and kinematic analysis of an autonomous wrist for space assembly (AWSA) whose actuators are activated by DC motors and ball screw drives. This robotic wrist was developed and built as a prototype to investigate in-space robotic operations, including maintaining and repairing spacecraft of the US National Aeronautics and Space Administration (NASA), such as the International Space Station (ISS) or satellites. Despite its disadvantages, such as a small workspace and low maneuverability, a parallel structure instead of a serial structure was selected for the design of the AWSA due to several advantages it has over a serial robot manipulator (SRM), including higher payload, greater stiffness, and better stability. The present paper also introduces a hybrid concept for robotic space operations, which combines an SRM performing gross motion and a parallel robot manipulator (PRM) performing fine motion. It then discusses the design and construction of the DC motor actuators and ball screw drives and presents the kinematic equations developed for the AWSA. This paper provides a closed-form solution to the inverse kinematics of the AWSA and a numerical solution using the Newton–Raphson method for its forward kinematics.
ISSN:2076-0825
DOI:10.3390/act14110542
Fonte:Advanced Technologies & Aerospace Database