一种自移动空间机械臂末端执行器的研制
一种自移动空间机械臂末端执行器的研制一种自移动空间机械臂末端执行器的研制
韩亮亮1, 赫向阳1,2, 杨健1, 陈萌1
1. 上海宇航系统工程研究所，上海 201108；
2. 华中科技大学机械科学与工程学院，湖北 武汉 430074
Research on a Novel End-effector for Self-mobile Space Manipulator
HAN Liangliang1, HE Xiangyang1,2, YANG Jian1, CHEN Meng1
1. Aerospace System Engineering Shanghai, Shanghai 201108, China;
2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
全文: PDF (830 KB) HTML (1 KB)
输出: BibTeX | EndNote (RIS)
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．
关键词 ： 空间机械臂,末端执行器,目标适配器,抓取机构,捕获
Abstract：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.
Key words： space manipulator end-effector grapple interface grapple mechanism capture
收稿日期: 2016-05-19
1:V423.7
基金资助:载人航天领域预先研究项目（030401）
通讯作者: 韩亮亮，hllrob@163.com E-mail: hllrob@163.com
作者简介: 韩亮亮（1987-），男，硕士，高级工程师．研究领域：空间机器人机构与控制，空间智能操控系统．
赫向阳（1991-），男，硕士生．研究领域：机器人机构与控制，空间遥操作．
引用本文:
韩亮亮, 赫向阳, 杨健, 陈萌. 一种自移动空间机械臂末端执行器的研制. 机器人, 2016, 38(6): 720-726.
HAN Liangliang, HE Xiangyang, YANG Jian, CHEN Meng. Research on a Novel End-effector for Self-mobile Space Manipulator. ROBOT, 2016, 38(6): 720-726.
链接本文:
http://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0720 或 http://robot.sia.cn/CN/Y2016/V38/I6/720
页:
[1]