Hostname: page-component-586b7cd67f-g8jcs Total loading time: 0 Render date: 2024-11-24T17:34:25.617Z Has data issue: false hasContentIssue false
  • English
  • Français

Design, testing and evaluation of an end-effector for self-relocation

Published online by Cambridge University Press:  03 July 2015

Feng Han ,
Kui Sun ,
Yu Liu  and
Hong Liu
Feng Han*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, P. R. China
Kui Sun
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, P. R. China
Yu Liu
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, P. R. China
Hong Liu
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, P. R. China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Two identical end-effectors are indispensable for self-relocation of a space manipulator, which is an effective way of extending its servicing capability. The prototype design is intimately linked to the requirements. The significant features and functionality of the end-effector and its grapple fixture are described, including the key analysis efforts. The characteristics of the end-effector and their suitability for self-relocation and payload handling were confirmed by testing, which used two prototype end-effectors, a semi-physical simulation testbed system with two, six degrees of freedom (DOF) industrial robot arms, and an air-bearing testbed system with a seven DOF manipulator. The results demonstrate that the end-effector satisfies the requirements and it can work well in a simulated space environment. With the compliance motion of the manipulator, the end-effector can perform soft capture and the manipulator can securely self-relocate and handle the payload.

Keywords

End-effectorSelf-relocationServicing capabilitySpace manipulatorCapture misalignment envelope
Type
Articles
Information
Robotica , Volume 34 , Issue 12 , December 2016 , pp. 2689 - 2728
Copyright
Copyright © Cambridge University Press 2015 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. King, D., “Space Servicing: Past, Present and Future[C],” Proceeding of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space, St–Hubert, Quebec, Canada, (Jun. 18–22, 2001) pp. 1–8.Google Scholar
2. Hirzinger, G., Brunner, B. and Lampariello, R. et al., “Advances in Orbital Robotics[C],” Proceedings of the IEEE Conference on Robotics & Automation, San Francisco, CA, (Apr. 2000), vol. 1, pp. 898–907.Google Scholar
3. Stoll, E., Letschnik, J. and Walter, U. et al., “On-orbit servicing[J],” IEEE Robot. Autom. Mag. 16 (4), 29–33 (2009).CrossRefGoogle Scholar
4. Finkleman, D. and Oltrogge, D., “Twenty-five Years, More or Less?[C],” Proceedings of the AIAA/AAS Astrodynamics Specialist Conference, Toronto, Ontario Canada, (Aug. 2–5, 2010) pp. 1–14.Google Scholar
5. Hirzinger, G., Landzettel, K., Brunner, B. et al., “DLR's robotics technologies for on-orbit servicing[J],” Adv. Robot. 18 (2), 139–174 (2004).CrossRefGoogle Scholar
6. Rembala, R. and Ower, C., “Robotic assembly and maintenance of future space stations based on the ISS mission operations experience[J],” Acta Astronaut. 65 (7), 912–920 (2009).CrossRefGoogle Scholar
7. Thronson, H. A., Akin, D. and Grunsfeld, J. et al., “The Evolution and Promise of Robotic in-space Servicing[C],” Proceedings of the AIAA SPACE 2009 Conference & Exposition, Pasadena, California, (Sept. 14–17, 2009) pp. 1–6.Google Scholar
8. Roberts, B. J., “Using the International Space Station as a Precursor to In–Orbit Robotic Servicing[C],” Proceedings of the AIAA SPACE 2010 Conference & Exposition, Anaheim, California, (Aug. 30–Sept. 2, 2010) pp. 1–8.Google Scholar
9. Gossain, D. M. and Sachdev, S. S., Self-relocating manipulator, US Patent 4,585,388[P]. 1986-4-29.CrossRefGoogle Scholar
10. Purves, L. R., Robot serviced space facility, US Patent 5,145,130[P]. 1992-9-8.Google Scholar
11. Haidegger, T., “Advanced Robotic Arms in Space[C],” Proceedings of the 55th International Astronautical Congress Vancouver, Canada, (2004) pp. 1–10.Google Scholar
12. Laryssa, P., Lindsay, E. and Layi, O. et al., “International Space Station Robotics: A Comparative Study of ERA, JEMRMS and MSS[C],” Proceedings of the 7th ESA Workshop on Advanced Space Technologies for Robotics and Automation, Noordwijk, Netherlands, (Nov. 19–21, 2002) pp. 1–8.Google Scholar
13. Sallaberger, C., “Force S P T. Canadian space robotic activities[J],” Acta Astronaut. 41 (4), 239–246 (1997).CrossRefGoogle Scholar
14. Lambooy, P. J., Mandersloot, W. M. and Bentall, R. H., “Some Mechanical Design Aspects of the European Robotic Arm[C],” Proceedings of the 29th Aerospace Mechanisms Symposium. Johnson Space Center, Houston, Texas, (1995), vol. 1, pp. 17–29.Google Scholar
15. Nishida, S. and Yoshikawa, T., “A New End-effector for On-orbit Assembly of a Large Reflector[C],” Proceedings of the IEEE Conference on Control, Automation, Robotics and Vision, Singapore, (Dec. 5–8, 2006) pp. 1–6.CrossRefGoogle Scholar
16. Kumar, R. and Hayes, R., “System Requirements and Design Features of Space Station Remote Manipulator System mechanisms[C],” Proceedings of the 25th Aerospace Mechanisms Symposium, Washington, DC, (May, 1991) pp. 15–30.Google Scholar
17. Quittner, E., Vandersluis, R. and Rakhsha, J. et al., “System and Concept Design of the SSRMS Latching End-effector[C],” Proceedings of the 3rd European Space Mechanism & Tripology Symposium, Madrid, Spain, (Sept. 30–Oct. 2, 1987) pp. 93–103.Google Scholar
18. Walker, B. and Vandersluis, R., “Design, Testing and Evaluation of Latching End-effector[C],” Proceedings of the 29th Aerospace Mechanisms Symposium, Johnson Space Center, Houston, Texas, (1995) pp. 1–16.Google Scholar
19. Hunter, D. G., “The Space Station Freedom special Purpose Dexterous Manipulator (SPDM)[C],” Proceedings of the IEEE National Telesystems Conference, NTC'91, Atlanta, GA, (Mar. 26–27, 1991), vol. 1, pp. 371–376.Google Scholar
20. Hwang, C. J., Design of a robotic end-effector to emulate the orbit replaceable unit/tool change-out mechanism (OTCM) for space station robotic system[J]. (1996), pp. 1–8. http://www.tern.com/portal/library/nasa_mc.pdf Google Scholar
21. Boumans, R. and Heemskerk, C., “The European robotic arm for the international space station[J],” Robot. Auton. Syst. 23 (1), 17–27 (1998).CrossRefGoogle Scholar
22. Doctor, F., Glas, A. and Pronk, Z., “Mission Preparation Support of the European Robotic Arm (ERA)[C],” Proceedings of the 7th ESA Workshop on Advanced Space Technologies for Robotics and Automation, Noordwijk, Netherlands, (Nov. 19–21, 2002) pp. 1–8.Google Scholar
23. Heemskerk, C. J. M., Visser, M. and 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, Netherlands, (Nov. 28–30, 2006) pp. 1–8.Google Scholar
24. Michaud, S., Dominguez, M., Nguyen, U., Zago, L. and Droz, S., “Eurobot End-effectors[C],” Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation, ‘ASTRA 2004’ ESTEC, Noordwijk, The Netherlands, (Nov. 2–4, 2004) pp. 1–8.Google Scholar
25. Gelmi, R., Rusconi, A. and Lodoso, J. F. G. et al., “Design of a Compact Tool Exchange Device for Space Robotics Applications[C],” Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation, ‘ASTRA 2006’ ESTEC, Noordwijk, The Netherlands, (Nov. 28–30, 2006) pp. 1–7.Google Scholar
26. Andary, J. F. and Spidaliere, P. D., “The development test flight of the flight telerobotic servicer: Design description and lessons learned[J],” IEEE Trans. Robot. Autom. 9 (5), 664–674 (1993).CrossRefGoogle Scholar
27. Hirzinger, G., Brunner, B. and Dietrich, J. et al., “Sensor-based space robotics-ROTEX and its telerobotic features[J],” IEEE Trans. Robot. Autom. 9 (5), 649–663 (1993).CrossRefGoogle Scholar
28. Kimura, S., Okyuama, T. and Yoshioka, N. et al., “Robot-aided remote inspection experiment on STS-85[J],” IEEE Trans. Aerosp. Electron. Syst. 36 (4), 1290–1297 (2000).Google Scholar
29. Oda, M., “Experiences and Lessons Learned from the ETS-VII Robot Satellite[C],” Proceedings of IEEE International Conference on Robotics and Automation, ICRA'00. San Francisco, CA, (Apr. 24–28, 2000), vol.1, pp. 914–919.Google Scholar
30. Matsueda, T., Kuraoka, K. and Goma, K. et al., “JEMRMS System Design and Development Status[C],” Proceedings of the IEEE National Telesystems Conference(NTC'91), Atlanta, GA, (Mar. 26–27, 1991), vol. 1, pp. 391–395.Google Scholar
31. Akatsuka, H., Ogasawara, H. and Endoh, H. et al., “Development of End-effector and Grapple Fixture for the Small Fine Arm of ‘Kibo’[C],” Proceedings of the twenty-third international symposium on space technology and science(Selected papers), Matsue, Shimane, Japan, (May 26–Jun 31, 2002), vol 2, pp. 1503–1508.Google Scholar
32. Tsuchihashi, A., Noguchi, N., Kuraoka, K.. End-effector: US Patent 4,955, 654[P]. 1990-9-11.Google Scholar
33. Oda, M., Nishida, M. and Nishida, S., “Development of an EVA End-effector, Grapple Fixtures and Tools for the Satellite Mounted Robot System[C],” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Osaka, Japan, (Nov. 4–8, 1996), vol. 3, pp. 1536–1543.Google Scholar
34. Hirzinger, G., Brunner, B. and Landzettel, K. et al., “Preparing a New Generation of Space Robots-a Survey of Research at DLR[J],” Robot. Auton. Syst. 23, 99–106 (1998).CrossRefGoogle Scholar
35. Rusconi, A., Finotello, R., Borghi, G., Mugnuolo, R., Olivieri, A. and Pasquali, F., “EUROPA (External use of Robotics for Payloads Automation)[C],” Proceedings of the AIAA SPACE 2001 Conference and Exhibit on International Space Station Utilization, Cape Canaveral, FL, (Oct. 15–18, 2001) pp. 1–10.Google Scholar
36. Mugnuolo, R., Di Pippo, S. and Magnani, P. G. et al., “The SPIDER manipulation system (SMS) The Italian approach to space automation[J],” Robot. Auton. Syst. 23 (1), 79–88 (1998).CrossRefGoogle Scholar
37. Rubinger, B. et al., “A Novel Robotic Hand-SARAH For Operations on the International Space Station[C],” Proceedings of the 7th ESA Workshop on Advanced Space Technologies for Robotics and Automation ‘ASTRA 2002’, ESTEC, Noordwijk, The Netherlands, (Nov. 19–21, 2002) pp. 1–8.Google Scholar
38. Parrish, J. C., Sullivany, B. R. and Robertsz, B. J., “Planning for the Ranger Telerobotic Shuttle Experiment on-orbit Operations,” AIAA Space 2000, AIAA 2000–5291, Long Beach, (Sept. 2000) pp. 1–9.CrossRefGoogle Scholar
39. Liu, Q., Research on End-Tools Exchange Device of Space Robot[D], (Harbin Institute of Technology, Harbin, 2011). (in Chinese)Google Scholar
40. Ren, L., Design of a New Exchange Device and Research on its Manipulating Strategy[D], (Harbin Institute of Technology, Harbin, 2012). (in Chinese).Google Scholar
41. Liu, H., Tan, Y., and Liu, Yi-wei et al., “Development of chinese large-scale space end-effector[J],” J. Cent. South Univ. Technol. 18, 600–609 (2011).CrossRefGoogle Scholar
42. Feng, F., Liu, Y., Liu, H. and Cai, H., “Design schemes and comparison research of the end-effector of large space manipulator[J],” CJME 25 (4), 674–687 (2012).CrossRefGoogle Scholar
43. Zhang, Q., Ni, F. L., and Zhu, Y. et al., “Compliant grasp strategy for three-fingered space robot end-effector[J],” Robot 33 (4), 427–433 (2011). (in Chinese).CrossRefGoogle Scholar
44. Feng, F., Liu, Y. and Liu, H. et al., “Design and simulation analysis of a space end-effector with large misalignment tolerance [J],” Robot 33 (6), 691–699 (2011), (in Chinese).Google Scholar
45. Christiansen, S. and Nilson, T., “Docking System for Autonomous, Un-manned Docking Operations[C],” Proceedings of the IEEE Conference on Aerospace, Big Sky, MT, (Mar. 1–8, 2008) pp. 1–14.CrossRefGoogle Scholar
46. Motaghedi, P. and Stamm, S., “6 DOF Testing of the Orbital Express Capture System[C],” Defense and Security. International Society for Optics and Photonics, Bellingham, WA, (2005), vol. 5799, pp. 66–81.Google Scholar
47. Motaghedi, P., “On-Orbit Performance of the Orbital Express Capture System[C],” SPIE Defense and Security Symposium. International Society for Optics and Photonics, Orlando, FL, (Mar. 16, 2008) vol. 6958, pp. 1–12.CrossRefGoogle Scholar
48. Stamm, S. and Motaghedi, P., “Orbital Express Capture System: Concept to Reality[C],” Defense and Security. International Society for Optics and Photonics, Bellingham, WA, (Aug. 2004) pp. 78–91.Google Scholar
49. Gottselig, G., “Orbital Express Advanced Technology Demonstration[C],” Presentation to 2002 Core Technologies for Space Systems Conference, (2002) pp. 19–21.Google Scholar
50. Ueno, H., Wakabayashi, Y. and Morimoto, H. et al., “Berthing Load Analysis between Space Manipulator and Berthing Mechanism during On-orbit Assembly Operation[C],” Proceedings of the 9th International Symposium on Artificial Intelligence and Robotics & Automation in Space, Hollywood, USA, (Feb. 26–29, 2008) pp. 1–6.Google Scholar
51. Dai, J. S., Wang, D. L. and Cui, L., “Orientation and workspace analysis of the multifingered metamorphic hand–-Metahand,” IEEE Trans. Robot. 25 (4), 942–947 (2009).CrossRefGoogle Scholar
52. Wei, G., Dai, J. S., Wang, S. and Luo, H., “Kinematic analysis and prototype of a metamorphic anthropomorphic hand with a reconfigurable palm,” Int. J. Humanoid Robot. 8 (3), 459–479 (2011).CrossRefGoogle Scholar