Development of Multiple-finger Dexterous Effector in Space Robot for On-orbit Operation
Spacecraft on-orbit operation involves fine operations such as grasping,screwing,plug-ging,moving,and docking,which imposes extremely high requirements on the dexterous perform-ance of the operating effector,such as flexibility,multi-state perception,lightness and reliability.Based on the profiling idea,the research on the five-finger dexterous effector was carried out,and the tendon-driven connecting rod coupling method was adopted.The thumb,the index finger,and the middle finger each had 3 degrees of freedom respectively.While the ring finger,the little finger and the wrist each had 2 degrees of freedom respectively.The fingers integrated six-dimensional force/torque,tendon tension,knuckle position and other sensors,and the drive mechanism was placed in the arm position.In addition,the research on three-finger dexterous effector was carried out.The fingers each had one degree of freedom respectively.Two of the fingers could adjust their relative position and posture according to the target shapes when grasping.Control strategy such as force/position mixing was used to test the grasping and operating capabilities of the dexterous effec-tor.The tests showed that the two kinds of ends could reliably grab and operate on various shapes and irregular objects.
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