多目标空间操作末端执行器的设计与分析

Songbo Deng, Jiaqi Duan, Zelin Yang, Jiankang Zhi, H. Cai, Tao Yang, Yanbo Wang
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引用次数: 0

摘要

随着空间机器人技术的发展,利用空间机械臂完成空间载荷更换和操作已成为空间机器人的主要技术手段。首先由空间机械臂将末端执行器传递到期望的位置和姿态,然后末端执行器对操作目标进行最终定位和锁定。末端执行器作为空间载荷操作的主体,对捕获域大、捕获精度高、锁定刚度要求高,需要进一步研究。根据大范围机动、载荷可替换、捕获定位精度高的操作要求,设计了一套同步动作的渐进式闭合捕获定位末端执行器。它具有位置差大、体积质量小、捕获接口通用等特点。设计了末端执行器的传动机构和捕获指结构。采用带末端执行器的柔性控制空间机械臂进行可更换载荷捕获试验。在空气轴承微重力环境下测量了捕获锁定精度。根据精度标定结果,对单-双指结构进行了优化。最后,通过地面试验验证了末端执行器设计和控制方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design and Analysis of End-Effector for Multi-Target Spatial Operation
With the development of space robot technology, it has become the main technical means to complete space payload replacement and operation with space manipulator. The end-effector is transferred to the desired position and attitude by space manipulator firstly, then end-effector conducts the final positioning and locking of the operating target. As the main part of space payload operations, the end effector requires large capture domain, high capture accuracy and high locking stiffness, which needs further research. A set of progressive closing capturing and positioning end-effector with synchronous action is designed in this paper according to the operation requirements of large range maneuvering with replaceable payload and high precision capturing and positioning. It has the characteristics of large position difference, small volume quality and universal capture interface. The transmission mechanism and capture finger configuration of end-effector are designed. A compliant control space manipulator with an end-effector is used to carry out replaceable payload capture test. The capture locking accuracy is measured in the air-bearing micro gravity environment. Based on the precision calibration results, the single-double finger configuration is optimized. Finally, the effectiveness of the design and control method of the end-effector are verified on ground test.
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