空间多功能在轨维护机器人系统及其末端执行器设计

End-Effector Design of Multi-Function Space Robot for Space on-Orbit Servicing

空间机器人是空间在轨服务的一种重要工具。以合作目标与非合作目标的在轨维护为目的,通过对现有空间机器人研究现状的调研和分析,提出了基于末端工具可快换的多功能在轨维护机器人系统,并提出多种末端执行器设计方案。其中三指-三瓣式末端执行器作为末端工具快换装置,不仅具有机械接口捕获对接的功能,还具有电力/信号传输功能,以及机械臂动力传输功能;钢丝绳缠绕式末端执行器具有优越的容差和软捕获性能,适合用于实现对安装有捕获接口的合作目标以及非合作目标卫星发动机喷管的捕获;而欠驱动三指末端执行器具有良好的待捕获目标物体形状自适应功能以及软捕获功能,因此可用于对空间形状不规则的太空垃圾等目标进行非合作目标捕获。通过对多功能在轨维护机器人系统及其末端工具快换过程以及末端执行器对目标捕获操作的研究,所提出的基于末端工具快换的多功能在轨维护机器人系统有较好的应用前景。

The space robot is an important tool for space on-orbit service. According to the requirement of the maintenance of the cooperative and non-cooperative targets, a multi-function on-orbit servicing robot system based on fastchangeable end-tools is proposed by investigating and analyzing the current research status of space robots, and a variety of end-effector design schemes are proposed. The three-finger-three-petal end-effector, as the quick-changing device for endeffectors and end tools, not only has the function of mechanical interface capture and docking, but also has the function of power/signal transmission and the mechanical power transmission function. The steel cable-snared end effector has superior misalignments tolerance and soft capture performance. It is suitable for capturing cooperative target with cooperative mechanical interface and non-cooperative engine nozzles of target satellite. The three-finger end-effector with underactuated mechanism has excellent capability of shape adaptation for the target and soft capture function, so it can be used to capture non-cooperative targets such as space garbage with irregular spatial shape. Through the research of the multi-function onorbit servicing robot system and the methods of end-effector quick changing, as well as the capture principles of the endeffectors, the multi-function on-orbit servicing robot system with fast-changeable end-effector and end tool has promising application prospects.