机器人2011，Vol.33Issue(6)：691-699,9.DOI:10.3724/SP.J.1218.2011.00691
一种空间大容差末端执行器设计方案与仿真分析
Design and Simulation Analysis of a Space End-effector with Large Misalignment Tolerance
摘要
Abstract
According to the features of the large space manipulator and its manipulation task of on-orbit-servicing, the basic requirements of large misalignment tolerance and soft capturing for the end-effector of large space manipulator are presented. And the ways to meet the above-mentioned requirements are proposed. A design scheme of end-effector with large misalignment tolerance capability is also presented based on these requirements and ways. And the elaborate design of the proposed end-effector scheme is completed to obtain the performance of this end-effector accurately, and to provide a precise 3-dimension model for the following performance analysis based on dynamics simulation. Finally the large misalignment tolerance capability of this end effector is verified via dynamics simulation and theoretical analyses, and the misalignment tolerance requirements for the large space manipulator end-effector are satisfied.关键词
对接机构/末端执行器/大容差:软捕获Key words
docking mechanism/ end-effector/ large misalignment tolerance/ soft capturing分类
航空航天引用本文复制引用
丰飞,刘伊威,刘宏,蔡鹤皋..一种空间大容差末端执行器设计方案与仿真分析[J].机器人,2011,33(6):691-699,9.基金项目
国家863计划资助项目 (2006AA042228). （2006AA042228）
