空间机器人手爪自动更换装置的研制

为了满足空间机器人对不同手爪的更换要求,研制出手爪的自动更换装置.该装置基于多种传感器,对机械手臂末端的位置、姿态以及对接时的工作状态进行实时检测,使机器人获取足够的信息主动进行调整,从而保证整个更换过程的顺利进行;同时,装置结构简单、体积小、刚度好,感知能力和环境适应能力强,智能化程度高,可以根据需要使机器人自动更换需要的手爪.

The development of an automatic exchange device for space robot hands

In order to meet the requirements for the automatic exchange of space robot hands, we have developed an exchange device with muhisensor technique that can make real -time detection of the location and the state of the robot arm end. The device can provide the robot with enough information for necessary adjustment, thus keeping the robot hands fulfilling a smooth exchanging process. With a simple construction and high ability of information acquisition, the intelligent automatic device enables the space robot to exchange its suitable hands automatically.