机器人2016，Vol.38Issue(6)：719-725,7.DOI:10.13973/j.cnki.robot.2016.0720
一种自移动空间机械臂末端执行器的研制
Research on a Novel End-effector for Self-mobile Space Manipulator
摘要
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.关键词
空间机械臂/末端执行器/目标适配器/抓取机构/捕获Key words
space manipulator/end-effector/grapple interface/grapple mechanism/capture分类
航空航天引用本文复制引用
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[J].机器人,2016,38(6):719-725,7.基金项目
载人航天领域预先研究项目（030401）． （）
