Development of space end-effector with capabilities of misalignment tolerance and soft capture based on tendon-sheath transmission system

作     者：丰飞 刘伊威 刘宏 蔡鹤皋 

作者机构：State Key Laboratory of Robotics and SystemHarbin Institute of Technology 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2013年第20卷第11期

页      面：3015-3030页

核心收录：

学科分类：0810[工学-信息与通信工程] 0806[工学-冶金工程] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0703[理学-化学] 0802[工学-机械工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Project(2006AA04Z228) supported by National Hi-tech Research and Development Program of China 

主　　题：space station on-orbit-servicing large space manipulator end-effector soft capture large misalignment tolerance 

摘      要：The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft *** to these requirements,an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was *** 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 ***,the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture *** capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS *** results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft *** translation misalignments in radial directions are±100 mm,and angular misalignments about pitch and yaw are±15°.