星载机器人系统的EVA末端执行器、抓斗夹具和工具的研制

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI:10.1109/IROS.1996.569017

M. Oda, M. Nishida, S. Nishida

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引用次数: 26

摘要

有许多任务要由太空机器人来完成。然而，单一的末端执行器不能满足单个任务的要求。纳斯达克将发射一颗名为ETS-VII的实验机器人卫星。该卫星有一个六自由度机械臂来处理许多实验有效载荷。有效载荷的质量、形状和大小各不相同。有效载荷和末端执行器之间的接口使用抓钩固定装置进行标准化。还开发了带有抓钩夹具的附加工具，以满足特定的任务要求。介绍了空间机器人EVA末端执行器的现状和ETS-VII末端执行器、抓钩夹具和工具的研制成果。

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Development of an EVA end-effector, grapple fixtures and tools for the satellite mounted robot system

There are many tasks to be performed by space robots. However a single end-effector can not meet the individual task's requirements. NASDA is to launch an experimental robot satellite named ETS-VII. The satellite has a 6-DOF robot-arm to handle many experimental payloads. Payloads vary in mass, shape and size. Interfaces between payloads and the end-effector are standardized using grapple fixtures. Additional tools with grapple fixtures are also developed to meet specific task requirements. This paper shows current status of the space-robot's EVA end-effector and development result of the ETS-VII's end-effector, grapple fixtures and tools.

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96

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