Design and Kinematic Analysis of a New Grapple Mechanism

Fei Deng; Jin Bao Chen; Meng Chen; Fu Jun Peng

doi:10.4028/www.scientific.net/AMR.605-607.239

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 605-607Design and Kinematic Analysis of a New Grapple...

Design and Kinematic Analysis of a New Grapple Mechanism

Abstract:

Combined with China's demand for space station construction, a new type of lock system for end effector is developed. This grapple mechanism makes grappling, pulling and rigidization in one mechanism which is simple construction and high reliability. The composition and the working principle of this grapple mechanism are introduced. Then, the singularity of the mechanism is analyzed and its kinematics equations are established. The parameter variations are obtained by using PROE. The results show that the working process adapts to the variation of the motion and force between the end effector and target adapter perfectly.

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Periodical:

Advanced Materials Research (Volumes 605-607)

Pages:

239-243

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.605-607.239

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Online since:

December 2012

Authors:

Fei Deng, Jin Bao Chen, Meng Chen, Fu Jun Peng

Keywords:

End Effector, Grapple Mechanism, Kinematics, Simulation

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References

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