Paper Title:
The Design and Comparison Study on the Large-Scale End-Effector of Large Space Manipulator
  Abstract

The space manipulator which is mounted on a space structure or spacecraft to manipulate space payloads is important for the on-orbit-servicing. Its manipulation tasks depend on its end-effector. The flexibility of the large space manipulator will result in residual vibration on its tip, and let the manipulator have poor capability of end positioning. To overcome the drawbacks mentioned-above, the end-effector needs strong capability of misalignment tolerance and soft capturing. On the base of these requirements and analysis, two kinds of end-effector schemes are presented and designed in detail. The essential performances are in comparison based on the results of dynamic simulations and experiments. Consequently, the conclusion is drawn that the steel cable-snared end-effector which captures the interface by winding the grapple fixture probe, is the best scheme that can combine the ability of soft capturing and great misalignment tolerance perfectly.

  Info
Periodical
Advanced Materials Research (Volumes 308-310)
Chapter
New Mechanisms and Robotics
Edited by
Jian Gao
Pages
2095-2103
DOI
10.4028/www.scientific.net/AMR.308-310.2095
Citation
F. Feng, Y. W. Liu, H. Liu, H. G. Cai, "The Design and Comparison Study on the Large-Scale End-Effector of Large Space Manipulator", Advanced Materials Research, Vols. 308-310, pp. 2095-2103, 2011
Online since
August 2011
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