空间机器人在轨操作用多指灵巧末端研究  

Development of Multiple⁃finger Dexterous Effector in Space Robot for On⁃orbit Operation

作　　者：赵志军 张文明[1,2] 胡成威 张晓东[1,2] 王耀兵 ZHAO Zhijun;ZHANG Wenming;HU Chengwei;ZHANG Xiaodong;WANG Yaobing(Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications,Beijing 100094,China;Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)

机构地区：[1]空间智能机器人系统技术与应用北京市重点实验室,北京100094 [2]北京空间飞行器总体设计部,北京100094

出　　处：《载人航天》2024年第6期746-752,共7页Manned Spaceflight

基　　金：国家自然科学基金项目(U22B2080)。

摘　　要：空间机器人在轨操作涉及抓握、旋拧、插拔、移动、对接等精细动作,这对末端灵巧操控性能提出极高要求,如自由灵活、多状态感知、轻便可靠等。基于仿形思想,开展了五指灵巧末端研究,采用腱驱动连杆耦合方式,拇指、食指、中指各有3个自由度,无名指、小指、腕部各有2个自由度,手指内部集成六维力/力矩、腱拉力、指节位置等传感器,驱动机构后置于手臂位置;此外,开展了三指灵巧末端研究,3个手指结构相同且各有1个自由度,其中2个手指可根据目标形状调整相对位姿;采用力/位混合等控制策略对末端的抓取及操作能力进行了试验测试。试验结果表明:2种末端可对多种形状及不规则物体进行可靠抓取及操作。Spacecraft on-orbit operation involves fine operations such as grasping,screwing,plugging,moving,and docking,which imposes extremely high requirements on the dexterous perform-ance of the operating effector,such as flexibility,multi-state perception,lightness and reliability.Based on the profiling idea,the research on the five-finger dexterous effector was carried out,and the tendon-driven connecting rod coupling method was adopted.The thumb,the index finger,and the middle finger each had 3 degrees of freedom respectively.While the ring finger,the little finger and the wrist each had 2 degrees of freedom respectively.The fingers integrated six-dimensional force/torque,tendon tension,knuckle position and other sensors,and the drive mechanism was placed in the arm position.In addition,the research on three-finger dexterous effector was carried out.The fingers each had one degree of freedom respectively.Two of the fingers could adjust their relative position and posture according to the target shapes when grasping.Control strategy such as force/position mixing was used to test the grasping and operating capabilities of the dexterous effector.The tests showed that the two kinds of ends could reliably grab and operate on various shapes and irregular objects.

关 键 词：在轨操作 灵巧操作 灵巧末端 多指 空间机器人 

分 类 号：V423[航空宇航科学与技术—飞行器设计]