Development of the interchangeable devices for space robot system

Feng Han; Yu Liu; Kui Sun; Hong Liu

doi:10.1109/ROBIO.2013.6739772

Development of the interchangeable devices for space robot system

Feng Han
, Yu Liu^*
, Kui Sun
, Hong Liu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to conference › Paper › peer-review

4 Scopus citations

Abstract

There are many space servicing tasks for space robots. With a single end effector, the space robot even can not meet the operation requirements of individual task. The space robot system has a self-relocating main manipulator arm and a dexterous robot arm to perform the tasks. To mount/de-mount payloads and tools, interfaces between the end effector and payloads/tools are standardized using grapple fixtures. An end effector and its grapple fixtures constitute an interchangeable device. According to the requirements, three interchangeable devices have been developed based on the different alignment features. Their comparisons indicate that the latest interchangeable device is for the main manipulator and also for the dexterous manipulator with the second.

Original language	English
Pages	2055-2061
Number of pages	7
DOIs	https://doi.org/10.1109/ROBIO.2013.6739772
State	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 12 Dec 2013 → 14 Dec 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 14/12/13

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10.1109/ROBIO.2013.6739772

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doi = "10.1109/ROBIO.2013.6739772",

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AB - There are many space servicing tasks for space robots. With a single end effector, the space robot even can not meet the operation requirements of individual task. The space robot system has a self-relocating main manipulator arm and a dexterous robot arm to perform the tasks. To mount/de-mount payloads and tools, interfaces between the end effector and payloads/tools are standardized using grapple fixtures. An end effector and its grapple fixtures constitute an interchangeable device. According to the requirements, three interchangeable devices have been developed based on the different alignment features. Their comparisons indicate that the latest interchangeable device is for the main manipulator and also for the dexterous manipulator with the second.

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Development of the interchangeable devices for space robot system

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