TY - GEN
T1 - A novel tool exchange device for space robots
AU - Liu, Yu
AU - Jiang, Zainan
AU - Jin, Minghe
AU - Han, Feng
AU - Liu, Hong
PY - 2014
Y1 - 2014
N2 - Since space tasks turn more complicated, tool exchange on orbit is playing a key role. This paper develops a novel tool exchange device(TED) and its fixture. It can not only realize the electrical interface connection with the end tool, but can output torque to it directly. Moreover, when the TED docks with the fixture, using intermittent motion characteristic of maltese mechanism, such operations as latching, shaft connection and electrical connection are carried out only by a motor, which reduces complexity of the system and improves the reliability. At last, with a 4 degree-of-freedom (DOF) space robot platform, the experiment of tool exchange is completed successfully based on the position impedance control method. Experimental results show the TED's pose (position and orientation) tolerance is up to 10mm and 3°.
AB - Since space tasks turn more complicated, tool exchange on orbit is playing a key role. This paper develops a novel tool exchange device(TED) and its fixture. It can not only realize the electrical interface connection with the end tool, but can output torque to it directly. Moreover, when the TED docks with the fixture, using intermittent motion characteristic of maltese mechanism, such operations as latching, shaft connection and electrical connection are carried out only by a motor, which reduces complexity of the system and improves the reliability. At last, with a 4 degree-of-freedom (DOF) space robot platform, the experiment of tool exchange is completed successfully based on the position impedance control method. Experimental results show the TED's pose (position and orientation) tolerance is up to 10mm and 3°.
UR - https://www.scopus.com/pages/publications/84906985894
U2 - 10.1109/ICMA.2014.6885701
DO - 10.1109/ICMA.2014.6885701
M3 - 会议稿件
AN - SCOPUS:84906985894
SN - 9781479939787
T3 - 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
SP - 233
EP - 238
BT - 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PB - IEEE Computer Society
T2 - 11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
Y2 - 3 August 2014 through 6 August 2014
ER -