HAN Liangliang, HE Xiangyang, YANG Jian, CHEN Meng. Research on a Novel End-effector for Self-mobile Space Manipulator[J]. ROBOT, 2016, 38(6): 720-726. DOI: 10.13973/j.cnki.robot.2016.0720
Citation: HAN Liangliang, HE Xiangyang, YANG Jian, CHEN Meng. Research on a Novel End-effector for Self-mobile Space Manipulator[J]. ROBOT, 2016, 38(6): 720-726. DOI: 10.13973/j.cnki.robot.2016.0720

Research on a Novel End-effector for Self-mobile Space Manipulator

  • 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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