Abstract
Aiming at the problem that the operation condition of space manipulator is very tough, which cannot afford large collision momentum. This paper proposes a new concept, called soft-contact technology. According to this technology, this paper designs a space manipulator joint configuration based on integrated double joints, and carries out simulation analysis on its rigid-flexible compound characteristic. Simulation results show that the rigid component of the joint configuration has the ability of path planning. Meanwhile, the flexible controllable damper is able to implement the attenuate collision momentum between the base and the manipulator, and the transfer from stepped collision momentum to harmonic attenuation momentum.
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