A New Fast Exchange Device and Its Capture Tolerance
SUN Kui1, JIN Minghen1, CUI Pingyuan2, LIU Hong1, REN Lixue1
1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China;
2. Deep Space Exploration Research Center, Harbin Institute of Technology, Harbin 150080, China
孙奎, 金明河, 崔平远, 刘宏, 任利学. 一种新型快速更换装置及其捕获容差[J]. 机器人, 2014, 36(1): 92-99.DOI: 10.3724/SP.J.1218.2014.00092.
SUN Kui, JIN Minghen, CUI Pingyuan, LIU Hong, REN Lixue. A New Fast Exchange Device and Its Capture Tolerance. ROBOT, 2014, 36(1): 92-99. DOI: 10.3724/SP.J.1218.2014.00092.
A fast exchange device at the end of space robot is developed, which can implement the fast exchange of tools and payloads. The device can accomplish capture & locking of the end tools and upheaving of electric connectors synchronously. Its torque export interface can provide power input for the end tools or payloads. The geometrical layout condition, dynamic condition and position & gesture tolerance condition are considered, and the key parts are designed optimally. A layered embedded control system is adopted in the electric system, and motor's driver and controller boards and transducer's signal collection module are introduced. The tolerance capability are analyzed and verified through virtual simulation platform. Based on a 4 DOF (degree of freedom) manipulator experiment platform, static insertion test is carried out. The obtained results are consistent with theoretical analysis and simulation.
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