In the process of space robot capturing, the space robot end-effector was in open-loop state, and the robot controller could not estimate if the capture interface was in desired position. Hence a force sense unit adapted to vicious outer space environment used as the capturing force feedback to the control system was designed. By the method of mechatronics integration design, the force sense unit was integrated into the robot end-effector, which enhanced the reliability, reduced the installing and debugging difficulty. The structure of sensor's elastomer was modeled, and then it was analyzed by the FEA software Patran/Nastran. At last, inherence frequency of the sensor was figured out from mode analyzing, and a number of object capture tests were carried out. Experimental results showed that degree of non-linearity (1.7%), delicacy (0.0025 V/N) and stability of the sensor unit was significantly accorded with the design targets of space robot end-effector.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Design of the force sense unit for space robot end-effector


    Contributors:
    Zhang, Qingli (author) / Zhu, Yingyuan (author) / Ni, Fenglei (author) / Wang, Yongbin (author) / Liu, Hong (author)


    Publication date :

    2009


    Size :

    5 Seiten, 6 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    Robot End Effector

    A. Slocom / P. Jurgens | NTIS | 1986



    END EFFECTOR AND ROBOT

    UDA MASAHIRO / SAWA KENTA / KATO TAKUYA et al. | European Patent Office | 2024

    Free access