Development of space end-effector with capabilities of misalignment tolerance and soft capture based on tendon-sheath transmission system
来源期刊：中南大学学报(英文版)2013年第11期
论文作者：FENG Fei(丰飞) LIU Yi-wei(刘伊威) LIU Hong(刘宏) CAI He-gao(蔡鹤皋)
文章页码：3015 - 3030
Key words：space station; on-orbit-servicing; large space manipulator; end-effector; soft capture; large misalignment tolerance
Abstract: The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture. According to these requirements, an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was manufactured. An analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed, and it was a guideline of the end-effector design. Furthermore, the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture space. The capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS software. The results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft capture. The translation misalignments in radial directions are ±100 mm, and angular misalignments about pitch and yaw are ±15°.
FENG Fei(丰飞), LIU Yi-wei(刘伊威), LIU Hong(刘宏), CAI He-gao(蔡鹤皋)
(State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China)
Abstract:The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture. According to these requirements, an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was manufactured. An analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed, and it was a guideline of the end-effector design. Furthermore, the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture space. The capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS software. The results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft capture. The translation misalignments in radial directions are ±100 mm, and angular misalignments about pitch and yaw are ±15°.
Key words:space station; on-orbit-servicing; large space manipulator; end-effector; soft capture; large misalignment tolerance
