TY - GEN
T1 - Development of A Space Arm-Hand System for On-orbit Servicing
AU - Hou, Pengfei
AU - Liu, Yiwei
AU - Xie, Zongwu
AU - Liu, Hong
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/2
Y1 - 2015/9/2
N2 - Facing current on-orbit servicing tasks, a space arm-hand system is designed and developed in this paper. Firstly, through contrast and analysis, the arm configuration of non-biased elbow and spherical wrist is identified, and the space hand system adopts the five-fingered dexterous robot hand. Secondly, the 6-DOF space arm system is accomplished including humanoid links and two different types of modular joints highly integrated in mechanical, electrical and control design. For the sake of attractive appearance and safety, the internal alignment design is adopted. Thirdly, the five-fingered space hand system is developed from modular fingers, multi-sensor integration system and hardware system. Finally, the system control strategy is formulated according to different on-orbit servicing stages and the corresponding ground verification test is arranged. The test result confirms on-orbit servicing capability of this space arm-hand system.
AB - Facing current on-orbit servicing tasks, a space arm-hand system is designed and developed in this paper. Firstly, through contrast and analysis, the arm configuration of non-biased elbow and spherical wrist is identified, and the space hand system adopts the five-fingered dexterous robot hand. Secondly, the 6-DOF space arm system is accomplished including humanoid links and two different types of modular joints highly integrated in mechanical, electrical and control design. For the sake of attractive appearance and safety, the internal alignment design is adopted. Thirdly, the five-fingered space hand system is developed from modular fingers, multi-sensor integration system and hardware system. Finally, the system control strategy is formulated according to different on-orbit servicing stages and the corresponding ground verification test is arranged. The test result confirms on-orbit servicing capability of this space arm-hand system.
KW - Five-fingered dexterous hand
KW - Ground test
KW - Modular joint
KW - On-orbit servicing
KW - Space manipulator
UR - https://www.scopus.com/pages/publications/84955288884
U2 - 10.1109/ICMA.2015.7237710
DO - 10.1109/ICMA.2015.7237710
M3 - 会议稿件
AN - SCOPUS:84955288884
T3 - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
SP - 1519
EP - 1524
BT - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
Y2 - 2 August 2015 through 5 August 2015
ER -