TY - GEN
T1 - Modelling and simulation analysis of three-finger style end-effector of space robot
AU - Liu, Tianxi
AU - Liang, Lei
AU - Wei, Cheng
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/27
Y1 - 2020/11/27
N2 - A three-finger style grab mechanism is designed for space robot capturing a replaceable module on orbit in this paper. The grab mechanism is simplified by mathematical method and the grasping process is analyzed, then the collision detection model is built. The collisions between fingers and the matcher's V-shaped grooves, between fingers and the matcher bottom surface, between the matcher bottom surface and the manipulator end-platform are analyzed in detail. The dynamic model of space floating base with six degree of freedom manipulator is established. The collision impact on the space robot is diminished by the application of the joint active damping control. The cases that the matcher has axial position error, radial position error, axial attitude error and radial attitude error at initial time are simulated. The results indicate that the three-finger style grab mechanism can complete the module grasp, the position and attitude error can be eliminated effectively.
AB - A three-finger style grab mechanism is designed for space robot capturing a replaceable module on orbit in this paper. The grab mechanism is simplified by mathematical method and the grasping process is analyzed, then the collision detection model is built. The collisions between fingers and the matcher's V-shaped grooves, between fingers and the matcher bottom surface, between the matcher bottom surface and the manipulator end-platform are analyzed in detail. The dynamic model of space floating base with six degree of freedom manipulator is established. The collision impact on the space robot is diminished by the application of the joint active damping control. The cases that the matcher has axial position error, radial position error, axial attitude error and radial attitude error at initial time are simulated. The results indicate that the three-finger style grab mechanism can complete the module grasp, the position and attitude error can be eliminated effectively.
KW - Active damping control
KW - Collision detection
KW - Deviation quaternion PD control
KW - Space robot
KW - Three-finger style grab mechanism
UR - https://www.scopus.com/pages/publications/85098949936
U2 - 10.1109/ICUS50048.2020.9274811
DO - 10.1109/ICUS50048.2020.9274811
M3 - 会议稿件
AN - SCOPUS:85098949936
T3 - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
SP - 56
EP - 61
BT - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Unmanned Systems, ICUS 2020
Y2 - 27 November 2020 through 28 November 2020
ER -