Development of Chinese large-scale space end-effector

In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Three flexible steel cables were adopted to capture the payload with large capture allowance. Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness. The experiments show that capture tolerances in X, Y, Z, Pitch, Yaw, Roll directions are 100 mm, 100 mm, 120 mm, 10.5°, 10.5°, 12°, respectively. The maximum connection stiffness is 4 800 N.m. The end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.