Mechanical analysis and design of a light weight and high stiffness space manipulator

Shock and vibration from the rocket launch brought high demands for the design of space robot. This article describes the simulation and design optimization on a six degree of freedom space manipulator we had designed for space robot. Firstly, the article describes the configuration design, Denavit-Hartenberg parameters, and so on. Then, based on the mechanical requirements of rocket to payload, mechanical conditions were brought forward, with which space manipulator need to meet. Mechanical properties of modular joint was analyzed, including modal analysis, random vibration analysis, response spectrum analysis and harmonic response analysis, etc. Analysis and design of the end-effector were introduced. Then, analyze and design the scheme of unlocking device. Finally, analysis of the structural strength of the arm fixed on the aircraft. Analysis and design mentioned above were verified by mechanical experiment as shock and vibration, and joint mechanical backlash were tested with air-bearing experimental techniques. The experimental results show that the arm optimized to meet the needs of the rocket launch, with a strong ability to survive.