Development of Chinese large-scale space end-effector

In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Three flexible steel cables were adopted to capture the payload with large capture allowance. Ball screw transmission mechanism and pl...

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Bibliographic Details
Published inJournal of Central South University Vol. 18; no. 3; pp. 600 - 609
Main Authors Liu, Hong, Tan, Yi-song, Liu, Yi-wei, Jie, Dang-yang, Gao, Kai, Cai, He-gao
Format Journal Article
LanguageEnglish
Published Changsha Central South University 01.06.2011
Subjects
Engineering
Metallic Materials
flexible steel cable
ball screw
large tolerance capture
high stiffness connection
end-effector
four bar linkage
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Summary:In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Three flexible steel cables were adopted to capture the payload with large capture allowance. Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness. The experiments show that capture tolerances in X, Y, Z , Pitch, Yaw, Roll directions are 100 mm, 100 mm, 120 mm, 10.5°, 10.5°, 12°, respectively. The maximum connection stiffness is 4 800 N·m. The end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.
ISSN:2095-2899
2227-5223
DOI:10.1007/s11771-011-0737-z