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针对中小型自移动空间机械臂在轨操作和“换位行走”的任务需求,研制了一种小型化、大容差、高刚度可靠连接的末端执行器及其相应的目标适配器.末端执行器采用单一驱动实现捕获、拉紧锁合、解锁和电连接器插拔等多种功能.考虑捕获容差条件及锁合性能要求,对末端执行器的关键机构参数进行设计.通过ADAMS建立虚拟样机,对捕获容差及锁合的功能性能进行验证.最后通过样机实验对末端执行器的功能进行验证,验证了设计的可行性及仿真的准确性.
Aiming at the task of small and medium size self-moving space manipulator in-orbit operation and “transposition walk ”, a miniaturized, high-tolerance and high-rigidity reliable end effector and its corresponding target adapter are developed. The actuator uses a single drive to capture, tighten the lock, unlock and plug the electrical connector and other functions.Considering the requirements of capture tolerance and locking performance, the key actuator parameters of the end-effector design.Administration by ADAMS Virtual prototype to verify the capability of capture tolerance and lock-in.Finally, the function of the end effector is verified through a prototype test to verify the feasibility of the design and simulation accuracy.