| 在轨组装机器人抓取机构设计与控制系统研究 |
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| 引用本文： | 朱嘉琦,韩哈斯敖其尔,于鹏,韩康,吴清文.在轨组装机器人抓取机构设计与控制系统研究[J].机械传动,2019,43(2):79-84. |
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| 作者姓名： | 朱嘉琦 韩哈斯敖其尔 于鹏 韩康 吴清文 |
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| 作者单位： | 中国科学院长春光学精密机械与物理研究所,吉林长春 130033;中国科学院大学,北京100049;中国科学院长春光学精密机械与物理研究所,吉林长春,130033 |
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| 摘 要： | 根据在轨组装空间望远镜关键技术的研究需求,为有效实施在轨组装服务,设计了在轨组装机器人及子镜组装分系统的地面验证方案,并对组装机器人的末端抓取机构进行设计分析。该抓取机构采用插入式抓取、胀紧式锁紧方案。同时,对组装机器人的控制系统方案进行详细阐述;经过分析计算,该设计能够满足在轨组装空间望远镜地面验证阶段的应用需求。
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| 关 键 词： | 在轨组装 抓取机构 闭环控制 |
Research of Design and Control System of Grab Mechanism of On-orbit Assembly Robot |
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| Zhu Jiaqi,Han Hasiaoqier,Yu Peng,Han Kang,Wu Qingwen.Research of Design and Control System of Grab Mechanism of On-orbit Assembly Robot[J].Journal of Mechanical Transmission,2019,43(2):79-84. |
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| Authors: | Zhu Jiaqi Han Hasiaoqier Yu Peng Han Kang Wu Qingwen |
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| Affiliation: | (Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Science,Changchun 130033,China;University of Chinese Academy of Sciences,Beijing 100049,China) |
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| Abstract: | According to the requirement of the key technology research mission of on-orbit assembly space telescope and in order to implement the on-orbit assembly service effectively,the ground verification scheme of the on-orbit assembly robot and sub-mirror assembly sub-system is designed,the end grab mechanism of the assembly robot is designed and analyzed.The scheme of inserting grasp and expanding lock is adopted in the grasp mechanism,and the control system of the assembly robot is also described.After the calculation and analysis,this design can meet the application requirements of the on-orbit assembly space telescope during the ground verification phase. |
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| Keywords: | On-orbit assembly Grab mechanism Closed-loop control |
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