摘要
随着空间机器人技术的进步,空间机器人将用于对空间漂浮目标的包络和抓捕.为了协助空间机器人完成对漂浮目标的捕获任务,研制了一种空间三指形手爪.利用单双手指、V形槽和捕获接口等机械元件,使得机器人可以对大范围位姿不确定的目标实现高精度的对接捕获.研制的蜗轮蜗杆、轴承、密封等机构具备空间环境适应性.在试验中,手爪在较大位姿偏移情况下捕获目标并锁紧在唯一位姿下.因此手爪具有较高的精度并且适应高低温度变化,具备了在空间环境中工作并抓捕对接目标的能力.
With the development of space robot technology,the space robot could be used to close and capture the space target.The space three-fingered gripper was developed to help the robot.Using the single and dual fingers,V-shape groove and the interface handle,robot can realize high precision docking capture of big range of pose of moving target.The transmission machine such as worm,bearing and sealing was designed to meet for the space environment.In experiments,in the larger pose migration cases,gripper can capture target and lock in the only pose.So the gripper has higher precision and adapt to the high and low temperature changes,so the developed gripper has the capability of capturing docking target in the space.
出处
《工程设计学报》
CSCD
北大核心
2012年第2期138-142,共5页
Chinese Journal of Engineering Design
基金
中国高技术研究发展计划(863计划)资助项目(2009AA××××××)
关键词
空间
三指形手爪
抓捕
space
three-fingered gripper
capture
