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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]
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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 

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