The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture.According to these requirements,an end-effector prototype combining the tendon-shea...The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture.According to these requirements,an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was manufactured.An analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed,and it was a guideline of the end-effector design.Furthermore,the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture space.The capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS software.The results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft capture.The translation misalignments in radial directions are±100 mm,and angular misalignments about pitch and yaw are±15°.展开更多
In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture t...In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture the payload with large capture allowance.Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness.The experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,respectively.The maximum connection stiffness is 4 800 N·m.The end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.展开更多
Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nut...Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.展开更多
基金Project(2006AA04Z228) supported by National Hi-tech Research and Development Program of China
文摘The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture.According to these requirements,an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was manufactured.An analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed,and it was a guideline of the end-effector design.Furthermore,the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture space.The capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS software.The results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft capture.The translation misalignments in radial directions are±100 mm,and angular misalignments about pitch and yaw are±15°.
基金Project(2006AA04Z228) supported by the National High Technology Research and Development Program of China
文摘In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture the payload with large capture allowance.Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness.The experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,respectively.The maximum connection stiffness is 4 800 N·m.The end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.
基金supported by the National Natural Science Foundation of China(11972077,11672035)。
文摘Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.
