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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| Published in | Journal of Central South University Vol. 18; no. 3; pp. 600 - 609 |
|---|---|
| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Changsha
Central South University
01.06.2011
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| Subjects | |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Jie, Dang-yang Liu, Yi-wei Cai, He-gao Liu, Hong Tan, Yi-song Gao, Kai |
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| Cites_doi | 10.2514/6.2009-6545 10.1016/j.actaastro.2008.11.011 10.1016/j.actaastro.2009.03.064 10.2514/6.2006-5978 10.1016/j.actaastro.2006.12.009 10.1016/j.actaastro.2009.04.015 |
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| Keywords | flexible steel cable ball screw large tolerance capture high stiffness connection end-effector four bar linkage |
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| References_xml | – reference: THRONSON H A, AKIN D, GRUNSFELD J, LESTER D. The evolution and promise of robotic in-space servicing [C]// Proceedings of the AIAA SPACE 2009 Conference & Exposition. California, 2009: 1–6. – reference: RembalaR.OwerC.Robotic assembly and maintenance of future space stations based on ISS mission operations experience [J]Acta Astronautica20096591292010.1016/j.actaastro.2009.03.064 – reference: KAWASAKI K. Overview of JEM-EF on ISS [C]// Proceedings of the RIKEN Symposium. Saitama, 2008: 1–3. – reference: KITMATCHER G, MAXWELL T G. Further exploration-international space station experience [C]// Proceedings of the SpaceOps 2006 Conference. Rome, 2006: 1–17. – reference: ZhuY.-y.GaoX.-h.XieZ.-w.LiuHong.Development of a gripper for Chinese space robot [C]Proceedings of the IEEE International Conference on Mechatronics and Automation2006LuoyangIEEE Press14651470 – reference: KING D, OWER C. Orbital robotics spiral evolution for future exploration missions [C]// Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space. Munich, 2005: 1–8. – reference: GaoX. H.JinM. H.XieZ. W.JiangL.NiF. L.ShiS. C.WeiR.ZhuY. Y.GaoH. G.LiuH.BeyerA.KraemerE.LandzettelK.SchottJ.HirzingerG.Development of the Chinese intelligent space robotic system [C]Proceedings of the IEEE International Conference on Intelligent Robots and Systems2006BeijingIEEE Press9941001 – reference: NishidaS. I.YoshikawaT.A new end-effector for on-orbit assembly of a large reflector [C]Proceedings of the IEEE International Conference on Control, Automation, Robotics and Vision2006SingaporeIEEE Press16 – reference: FukazuY.HaraN.KanamiyaY.SatoD.Reactionless resolved acceleration control with vibration suppression capability for JEMRMS/SFA [C]Proceedings of the IEEE International Conference on Robotics and Biomimetics2009BangkokIEEE Press13591364 – reference: ACQUATELLA P. Development of automation & Robotics in space exploration [C]// Proceedings of the AIAA SPACE 2009 Conference & Exposition. California, 2009: 1–7 – reference: HEEMSKERK C J M, VISSER M, VRANCKEN D. Extending ERA’s capabilities to capture and transport large payloads [C]// Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation. Noordwijk, 2006: 1–8. – reference: InabaN.OdaM.Autonomous satellite capture by a space robot [C]Proceedings of the IEEE International Conference on Robotics & Automation2000San FranciscoIEEE Press11691174 – reference: OghenekevweV.RedmondS.HiltzM.RembalaR.Human and robotic repair of a solar array wing during ISS assembly mission 10A [J]Acta Astronautica2009651717172210.1016/j.actaastro.2009.04.015 – reference: RembalaR.AzizS.Increasing the utilization of the ISS mobile service system through ground control [J]Acta Astronautica20076169169810.1016/j.actaastro.2006.12.009 – reference: ColeshillE.OshinowoL.RembalaR.BinaB.ReyD.SindelarS.Dextre: Improving maintenance operations on the international space station [J]Acta Astronautica20096486987410.1016/j.actaastro.2008.11.011 – ident: 737_CR8 – ident: 737_CR1 doi: 10.2514/6.2009-6545 – ident: 737_CR11 – start-page: 1465 volume-title: Proceedings of the IEEE International Conference on Mechatronics and Automation year: 2006 ident: 737_CR14 – ident: 737_CR12 – start-page: 1 volume-title: Proceedings of the IEEE International Conference on Control, Automation, Robotics and Vision year: 2006 ident: 737_CR5 – volume: 64 start-page: 869 year: 2009 ident: 737_CR4 publication-title: Acta Astronautica doi: 10.1016/j.actaastro.2008.11.011 – start-page: 994 volume-title: Proceedings of the IEEE International Conference on Intelligent Robots and Systems year: 2006 ident: 737_CR15 – volume: 65 start-page: 912 year: 2009 ident: 737_CR3 publication-title: Acta Astronautica doi: 10.1016/j.actaastro.2009.03.064 – ident: 737_CR2 doi: 10.2514/6.2006-5978 – ident: 737_CR9 – volume: 61 start-page: 691 year: 2007 ident: 737_CR6 publication-title: Acta Astronautica doi: 10.1016/j.actaastro.2006.12.009 – volume: 65 start-page: 1717 year: 2009 ident: 737_CR7 publication-title: Acta Astronautica doi: 10.1016/j.actaastro.2009.04.015 – start-page: 1359 volume-title: Proceedings of the IEEE International Conference on Robotics and Biomimetics year: 2009 ident: 737_CR10 – start-page: 1169 volume-title: Proceedings of the IEEE International Conference on Robotics & Automation year: 2000 ident: 737_CR13 |
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| Snippet | In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was... |
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| Title | Development of Chinese large-scale space end-effector |
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