A review of the end-effector of large space manipulator with capabilities of misalignment tolerance and soft capture  

作　　者：FENG Fei TANG LiNa XU JianFeng LIU Hong LIU YiWe 

机构地区：[1]State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology (HUST), Wuhan 430074, China [2]Shanghai Aerospace Equipments Manufacturer, Shanghai 200245, China [3]State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin 150080, China

出　　处：《Science China(Technological Sciences)》2016年第11期1621-1638,共18页中国科学（技术科学英文版）

基　　金：supported by the National Basic Research Program of China(Grant No.973-2013CB733103);State Key Laboratory of Robotics and System(HIT)(Grant No.SKLRS-2016-MF-05)

摘　　要：The space manipulator which has advantages of high dexterity and universality, is used to the space capturing usually. According to the different types of mechanical interfaces of targets, the on orbit capturing operation includes capturing of cooperative target and capturing of uncooperative target. The performances of the famous large space manipulators named space shuttle remote manipulator system(SRMS), the space station remote manipulator system(SSRMS) and the Europe robotic arm(ERA) are reviewed and studied respectively. Moreover, the space manipulators being developed by China for space station is also surveyed. Based on the performance analysis of the large space manipulators and end-effectors, which are adapted to the construction and daily maintenance for the large space structure such as the space station, the basic requirements of large misalignment tolerance capability, soft capturing capability and hard docking capability for the end-effector of large space manipulator are proposed in this paper. According to these requirements, the capture mechanism and methods that can enable the end-effector to have the capability of misalignment tolerance and soft capturing are presented. The development trend and key technologies of the large space manipulators and the end-effectors are also reviewed.

关 键 词：space station large space manipulator END-EFFECTOR large misalignment tolerance soft capture on-orbit capturing 

分 类 号：V441[航空宇航科学与技术—飞行器设计] TP241[自动化与计算机技术—检测技术与自动化装置]