摘要
根据大型空间机械臂及其在轨服务操作任务的特点,提出了大型空间机械臂末端执行器大容差和软捕获的基本性能要求,同时给出了实现上述基本性能的方法.在此基础上,提出了一种具有大容差性能的机械臂末端执行器设计方案.为了准确获得该类末端执行器的性能指标,完成了该类末端执行器的详细设计,也为后期的动力学仿真分析提供准确的3维模型.最终,通过理论和动力学仿真分析,验证了该末端执行器具有较大的容差范围,并达到了空间大型机械臂对末端执行器容差性能的要求.
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.
出处
《机器人》
EI
CSCD
北大核心
2011年第6期691-699,共9页
Robot
基金
国家863计划资助项目(2006AA04Z228)
关键词
对接机构
末端执行器
大容差
软捕获
docking mechanism
end-effector
large misalignment tolerance
soft capturing
