高集成度空间大型末端执行器的研制

Development of a highly integrated large space end effector

研制了一种高集成度且具有柔性捕获接口的空间大型末端执行器。该执行器由抓捕、拖动、锁定三个环节组成，集成了视觉、位置、力、温度及电流等多种传感器。基于机电一体化的设计思想，将三个环节的驱动控制系统集成在末端执行器内部。采用分布式控制策略，通过M-LVDS总线与中央控制器进行通信，实现了末端执行器控制参数的在线调整。而且，利用多传感器信息建立了局部自主的捕获策略，可实现对不同类型合作目标的抓捕。在搭建的地面微重力实验平台上进行的抓捕实验表明该末端执行器能在X、Y方向65mm偏差，Z方向100mm偏差情况下，实现对目标负载的成功捕获，具有较大容差范围下的捕获能力。

A highly integrated large space end effector with a flexible capture interface was developed. It was composed of the three subsystems of catching, dragging and latching, with a variety of sensors being integrated, including the sensors of vision, position, force, temperature, current, etc. According to the mechatronics design thought, the motor driving and control systems of the three subsystems were integrated in the end effector. Using the distributed control strategy, on-line adjustment of the control parameters was achieved through the communication with the central controller by the M-LVDS bus. Meanwhile, the local autonomous capture strategy based on multi-sensory information was established to capture different types of cooperative target loads. Results of the experiments implemented on the ground microgravity testbed showed that the designed space large end effector was able to perform a successful capture to a target with a deviation of 65mm in the directions of X and Y, and a deviation of 100mm inthe Z direction. The capture ability of the end-effector for targets with large tolerance was proved.