摘要
针对中小型自移动空间机械臂在轨操作和"换位行走"的任务需求,研制了一种小型化、大容差、高刚度可靠连接的末端执行器及其相应的目标适配器.末端执行器采用单一驱动实现捕获、拉紧锁合、解锁和电连接器插拔等多种功能.考虑捕获容差条件及锁合性能要求,对末端执行器的关键机构参数进行设计.通过ADAMS建立虚拟样机,对捕获容差及锁合的功能性能进行验证.最后通过样机实验对末端执行器的功能进行验证,验证了设计的可行性及仿真的准确性.
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.
出处
《机器人》
EI
CSCD
北大核心
2016年第6期720-726,共7页
Robot
基金
载人航天领域预先研究项目(030401)
