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Design Schemes and Comparison Research of the End-effector of large space manipulator

Chinese Journal of Mechanical Engineering 2012年第4期25卷 674-687页

作者： FENG Fei LIU Yiwei LIU Hong CAI Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The end-effector of the large space manipulator is employed to assist the manipulator in handling and manipulating large payloads on ***,there are few researches about the end-effector,and the existing end-effectors have some disadvantages,such as poor misalignment tolerance capability and complex mechanical *** to the end positioning errors and the residual vibration characters of the large space manipulators,two basic performance requirements of the end-effector which include the capabilities of misalignment tolerance and soft capture are *** the end-effector should accommodate the following misalignments of the mechanical *** translation misalignments in axial and radial directions and the angular misalignments in roll,pitch and yaw are ±100 mm,100 mm,±10°,±15°,±15°,*** end-effector schemes are presented and the capabilities of misalignment tolerance and soft capture are analyzed *** three fingers-three petals end-effector and the steel cable-snared end-effector are the most feasible schemes among the seven schemes,and they are designed in *** capabilities of misalignment tolerance and soft capture are validated and evaluated,through the experiment on the micro-gravity simulating device and the dynamic analysis in ADAMS *** results show that the misalignment tolerance capabilities of these two schemes could satisfy the *** the translation misalignment tolerances in axial and radial directions and the angular misalignment tolerances in roll,pitch and yaw of the steel cable-snared end-effector are 30mm,15mm,6°,3° and 3° larger than those of the three fingers-three petals end-effector,*** the contact force of the steel cable-snared end-effector is smaller and smoother than that of the three fingers-three petals *** end-effector schemes and research methods are beneficial to the developments of the large space manipulator end-effctor and t

关键词： end-effector large space manipulator docking mechanism soft capture misalignment tolerance passive compliance active compliance

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A review of the end-effector of large space manipulator with capabilities of misalignment tolerance and soft capture

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Science China(Technological Sciences) 2016年第11期59卷 1621-1638页

作者： FENG Fei TANG LiNa XU JianFeng LIU Hong LIU YiWe State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology (HUST) Wuhan 430074 China Shanghai Aerospace Equipments Manufacturer Shanghai 200245 China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin 150080 China

The space manipulator which has advantages of high dexterity and universality, is used to the space capturing usually. According to the different types of mechanical interfaces of targets, the on orbit capturing operation includes capturing of cooperative target and capturing of uncooperative target. The performances of the famous large space manipulators named space shuttle remote manipulator system(SRMS), the space station remote manipulator system(SSRMS) and the Europe robotic arm(ERA) are reviewed and studied respectively. Moreover, the space manipulators being developed by China for space station is also surveyed. Based on the performance analysis of the large space manipulators and end-effectors, which are adapted to the construction and daily maintenance for the large space structure such as the space station, the basic requirements of large misalignment tolerance capability, soft capturing capability and hard docking capability for the end-effector of large space manipulator are proposed in this paper. According to these requirements, the capture mechanism and methods that can enable the end-effector to have the capability of misalignment tolerance and soft capturing are presented. The development trend and key technologies of the large space manipulators and the end-effectors are also reviewed.

关键词： space station large space manipulator end-effector large misalignment tolerance soft capture on-orbit capturing

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A review of structures,verification,and calibration technologies of space robotic systems for on-orbit servicing

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Science China(Technological Sciences) 2021年第3期64卷 462-480页

作者： DING XiLun WANG YeCong WANG YaoBing XU Kun Robotics Institute Beihang UniversityBeijing 100191China Beijing Institute of spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and ApplicationsBeijing 100094China

Recently,with the rapid development of aerospace technology,an increasing number of spacecraft is being launched into ***,the demands for on-orbit servicing(OOS)missions are rapidly *** robotics is one of the most promising approaches for various OOS missions;thus,research on space robotics technologies for OOS has attracted increased attention from space agencies and universities *** this paper,we review the structures,ground verification,and onorbit kinematics calibration technologies of space robotic systems for ***,we systematically summarize the development of space robotic systems and OOS programs based on space ***,according to the structures and applications,these systems are divided into three categories:large space manipulators,humanoid space robots,and small space *** to the capture mechanisms adopted,the end-effectors are systematically ***,the ground verification facilities used to simulate a microgravity environment are summarized and ***,the on-orbit kinematics calibration technologies are discussed and analyzed compared with the kinematics calibration technologies of industrial manipulators with regard to four ***,the development trends of the structures,verification,and calibration technologies are discussed to extend this review work.

关键词： space robotic system on-orbit servicing large space manipulator humanoid space robot verification kinematics calibration

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

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Journal of Central South University 2013年第11期20卷 3015-3030页

作者：丰飞刘伊威刘宏蔡鹤皋 State Key Laboratory of Robotics and System Harbin Institute of Technology

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°.

关键词： space station on-orbit-servicing large space manipulator end-effector soft capture large misalignment tolerance

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