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.

• Periodical: Advanced Materials Research (Volumes 308-310)
• Pages: 2095-2103
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.308-310.2095
• Online since: August 2011
• Authors: Fei Feng, Yi Wei Liu, Hong Liu, He Gao Cai
• Keywords: End Effector, Large Space Manipulator, Misalignment Tolerance, Soft Capturing

References

[1] D. King, E. Martin, J. C. Piedboeuf. Canadian Robotic Development for On-Orbit Servicing. The 7th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2006' (2006)

[2] L. J. Quiocho, T. J. Briscoe, J. A. Schliesing. SRMS Assisted Docking and Undocking for the Orbiter Repair Maneuver. AIAA Guidance, Navigation and Control Conference and Exhibit, 15-18 August, San Francisco, California (2005)

DOI: 10.2514/6.2005-5987

[3] Satoshi Ueda, Toru Kasai. HTV Guidance, Navigation and Control System Design for Safe Robotics Capture. AIAA/AAS Astrodynamics Specialist Conference and Exhibit, 18-21 August 2008, Honolulu, Hawaii

DOI: 10.2514/6.2008-6767

[4] Vandersluis Ron, Quittner Erik. End Effector and Grapple Fixture: Canadian Patent: 1294997 (1987)

[5] Ravindran R. Doetsch K.. Design aspect of the shuttle remote manipulator system, Proc. of the AIAA Guidance and control conference[C], (1982), pp.456-465

DOI: 10.2514/6.1982-1581

[6] D. King. Space Servicing: Past, Present and Future. 6th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2001' (2001)

[7] N. J. Currie, B. Peacock. International Space Station Robotic System Operations-A Human Factors Perspective. 7th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2002'

[8] P. Laryssa, E. Lindasay, O. Layi, O. Marius, K. Nara, L. Aris, T. Ed. International Space Station Robotics: A Comparative Study of ERA, JEMRMS and MSS. 7th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2002'

[9] Pejmun Motaghedi. 6 DOF Testing of the Orbital Express Capture System. Modeling, Simulation and Verification of Space-based Systems II, Proceedings of SPIE Vol. 5799, (2008)

DOI: 10.1117/12.606222

[10] Pete Tchoryk. Jr., Anthony B. Hays, Jane C. Pavlich. A Docking Solution for On-Orbit Satellite Servicing: Part of the Responsive Space Equation. 1st Responsive Space Conference, April 1-4, 2003, Redondo Beach, CA

[11] Francis Herbert, Arthur MEE. Grappling Device: United States Patent, 4105241[P]. August 8, 1978. www.freepatensonline.com