Gong Cheng, Kou Yong, Jin Ke
School of Aerospace Science and Technology, Xidian University, Xi'an 710071, China.
Research Center for Applied Mechanics, Xidian University, Xi'an 710126, China.
Rev Sci Instrum. 2023 Jun 1;94(6). doi: 10.1063/5.0139544.
The existing space manipulator joints with permanent magnet synchronous motors (PMSMs) have many deficiencies, such as large size, low output torque, and long settling time. In this paper, the dynamic behavior of space manipulators with smart giant magnetostrictive material (GMM) joints is studied. A nonlinear dynamic model considering the magneto-thermal-mechanical coupling for the manipulator is established, and an experiment is conducted to evaluate the performance of the GMM joint. After verifying the accuracy and availability of the model, we find that comparing with the PMSM joint, manipulators with the GMM joint have better performance, which has large output torque, fast settling time, and wide temperature adaptation range. These essential investigations will be of significant benefit to the applications in space manipulators.
现有的采用永磁同步电机（PMSM）的空间机械臂关节存在诸多不足，如尺寸大、输出扭矩低以及稳定时间长等问题。本文研究了具有智能超磁致伸缩材料（GMM）关节的空间机械臂的动力学行为。建立了考虑机械臂磁热机械耦合的非线性动力学模型，并进行了实验以评估GMM关节的性能。在验证了模型的准确性和可用性之后，我们发现与PMSM关节相比，具有GMM关节的机械臂具有更好的性能，其输出扭矩大、稳定时间快且温度适应范围广。这些重要研究将对空间机械臂的应用具有重大意义。
