NDLI: Development of a General 2-DOF Space Module

Content Provider	IEEE Xplore Digital Library
Author	Shao Zhiyu Sun Hanxu Jia Qingxuan Ye Ping Tan Yuesheng
Copyright Year	2006
Description	Author affiliation: Sch. of Mech. Eng. & Autom., Beijing Univ. of Aeronaut. & Astronaut. (Shao Zhiyu)
Abstract	This paper presents the concept of a general two degrees-of-freedom space module or TODOM. General TODOM is made up of three basic modules: one link module and two revolving modules. The reliability of the TODOM is improved by mutual backup of the control systems of the two revolving modules. Every revolving module corresponds to one degree-of-freedom (DOF). The two axes of the revolving modules can be configured to different orientations or positions by specific design of the mechanical interfaces between the three basic modules. Several such differently configured TODOMs can be assembled into some needed kinds of space manipulators that have even numbered DOF. By using integration design method, the mass and volume of the TODOM is dramatically reduced, and the system reliability of the manipulator can be improved. The rationality and feasibility of the TODOM concept is testified by the development of a 2-DOF wrist whose two joint axes are orthogonal
Starting Page	1002
Ending Page	1007
File Size	6770291
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281782
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Orbital robotics Control systems Design automation Hardware Robotic assembly Mechanical engineering Robotics and automation Satellites Reluctance motors TODOM 2-DOF Integration Space module Space manipulator
Content Type	Text
Resource Type	Article

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