Research on a Novel End-effector for Self-mobile Space Manipulator
HAN Liangliang1, HE Xiangyang1,2, YANG Jian1, CHEN Meng1
1. Aerospace System Engineering Shanghai, Shanghai 201108, China;
2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
韩亮亮, 赫向阳, 杨健, 陈萌. 一种自移动空间机械臂末端执行器的研制[J]. 机器人, 2016, 38(6): 720-726.DOI: 10.13973/j.cnki.robot.2016.0720.
HAN Liangliang, HE Xiangyang, YANG Jian, CHEN Meng. Research on a Novel End-effector for Self-mobile Space Manipulator. ROBOT, 2016, 38(6): 720-726. DOI: 10.13973/j.cnki.robot.2016.0720.
Abstract：In order to satisfy the requirements of small and medium self-mobile space manipulator to operate and walk on the space station, a novel end-effector and its grapple interface with characteristics of miniaturization, large-tolerance and high stiffness connection are developed. The end-effector can accomplish multiple functions with a single driving mechanism, such as capturing, rigidization, releasing and electrical connection. Considering the requirement of the tolerance condition and locking performance, the key parameters of the end-effector are designed. In the virtual prototype built in ADAMS, dynamic simulation of capturing and rigidization is analyzed. The function of the end-effector is verified by the prototype experiment, proving the feasibility of the design and the correctness of the simulation.
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