蜗轮蜗杆副的空间操作器应用研究

随着机器人技术在空间领域的发展,需要有一种结构紧凑、简单可靠的机械机构用于机器人末端操作器的传动。蜗轮蜗杆副具有传动简便等优点,特别适于作为对夹式操作器的传动机构。针对蜗轮蜗杆副空间环境适应性研究尚不充分的问题,采用分析和试验相结合的方法对蜗轮蜗杆在机器人操作器中的安装实现、润滑、振动、高低温及寿命进行了研究。利用热真空罐、振动台等测试手段模拟空间环境对研制的蜗轮蜗杆副进行了空间环境适应性测试。研究结果表明通过合理的设计,蜗轮蜗杆副可以具备空间应用的能力,能够满足空间环境要求。

Study on the Worm Gearing Using in Space Manipulator

For the new development of robot in the space,a compact and dependable machine should be used in the robot manipulator.It is fit for worm gearing used as the driver to grasp for the advantage of simple motion and drive direction which could be changed.Aiming to overcome the worm gearing adaptability problem in the space,the install,lubrication,libration,temperature and using life of the worm gearing used in the space manipulator are researched by analysis and experiments.The manipulator constituted with worm gearing is tested in the space environment simulated by the thermal vacuum chamber and vibration table.The results indicate that worm gearing can fit for the space use.