APPLICATION OF ACTUATORS IN THE DEVELOPMENT OF SPACE ROBOTICS MANIPULATORS

Tis article discusses the development of a manipulator based on a drive, the kinematic scheme of which should be selected in accordance with the work performed and the type of working area of the manipulator. Ensuring the maneuverability of the manipulator is the main task in constructing the kinematic scheme. For this purpose, kinematic and force analysis was carried out based on the chosen scheme. This type of special-purpose manipulators does not have high speed, since the operation of the device does not require high speeds. Therefore, acceleration and dynamic loads will be less. The data obtained as a result of kinematic analysis are presented in the second chapter in table 2. The force analysis of the rotation module revealed inertia forces resulting from the interaction of all modules. The structure of the manipulator, consisting of various modules, was analyzed taking into account their inertial parameters and resistance forces. In the fourth chapter, the force calculation of the capture device, consisting of two parts, is considered. At the first stage, the moment of force created by the gripping jaws to hold the object of manipulation was determined. At the second stage, the output load of the capture module was calculated, which is the input load of the next module. In this case, the rotation module was studied. In general, the results of the study provide important technical indicators that can be used in the process of designing and improving the manipulator. This research will contribute to improving the development of space manipulators in the future and increasing their efficiency. In addition, the results obtained can also be used in the design of industrial robots. This research can become the basis for the introduction of new methods in the future development of robotics. His results are of great importance for improving the efficiency of robotic systems