一种新型快速更换装置及其捕获容差  

A New Fast Exchange Device and Its Capture Tolerance

作　　者：孙奎[1] 金明河[1] 崔平远[2] 刘宏[1] 任利学[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080 [2]哈尔滨工业大学深空探测基础研究中心,黑龙江哈尔滨150080

出　　处：《机器人》2014年第1期92-99,共8页Robot

基　　金：国家973计划资助项目(973-2013CB733103)

摘　　要：研制了一种应用于空间机器人末端的快速更换装置,实现对多种工具和有效载荷的快速更换.该装置可以同步完成对末端工具的捕获锁紧和电气接口推送,同时具有力矩输出接口,可以为末端工具或有效载荷提供动力输入.考虑了几何布局条件、力学条件和位姿容差条件,对其关键部件进行了优化设计.电气系统采用分层嵌入式控制系统,介绍了电机驱动板、控制板及传感器采集模块.通过虚拟仿真平台,对其容差能力进行了分析验证.最后利用4自由度机械臂平台进行了静态插入实验,得到了与理论分析和仿真相吻合的结果.A fast exchange device at the end of space robot is developed, which can implement the fast exchange of tools and payloads. The device can accomplish capture ＆ locking of the end tools and upheaving of electric connectors synchronously. Its torque export interface can provide power input for the end tools or payloads. The geometrical layout condition, dynamic condition and position ＆ gesture tolerance condition are considered, and the key parts are designed optimally. A layered embedded control system is adopted in the electric system, and motor＇s driver and controller boards and transducer＇s signal collection module are introduced. The tolerance capability are analyzed and verified through virtual simulation platform. Based on a 4 DOF （degree of freedom） manipulator experiment platform, static insertion test is carried out. The obtained results are consistent with theoretical analysis and simulation.

关 键 词：空间机器人 快速更换装置 位姿容差 柔顺操作 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]