Design and Verification of End-effector and Adaptation Interfaces for On-orbit Construction of Space Robot
In order to meet the requirements of the on-orbit construction of large space facilities,an end-effector,and three adaptive interfaces are designed for the space multi-branch robot,which can be used to complete the tasks of recognition,positioning,capture,transport,assembly,climbing,and exploration.According to the requirements of on-orbit construction tasks,design indexes are proposed based on assembly object parameters and robot performance.The overall plans of the mechanical structure and electrical system of the end-effector are being developed,and three kinds of adaptive interfaces are designed.To meet the requirements of tolerance,the tolerance and mechanical conditions of the docking process are analyzed,and the geometric parameters of key components are optimized.To meet the requirements of locking,the kinematic and mechanical models of the locking process are established,and the cylindrical CAM groove is optimized by using the combined motion law.The correctness of tolerance and locking design is verified by simulation and experiment.The ground simulation test of on-orbit assembly and climbing is carried out to further verify the performance of end-effector and adaptive interfaces,which lays a foundation for the on-orbit construction of large space facilities.
on-orbit constructionspace robotend-effectoradaptation interfacedocking and locking
NETL
NSTL
万方数据
维普
