Development of space end-effector with capabilities of misalignment tolerance and soft capture based on tendon-sheath transmission system

Abstract

The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture. According to these requirements, an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was manufactured. An analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed, and it was a guideline of the end-effector design. Furthermore, the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture space. The capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS software. The results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft capture. The translation misalignments in radial directions are ±100 mm, and angular misalignments about pitch and yaw are ±15°.

Keywords

space station / on-orbit-servicing / large space manipulator / end-effector / soft capture / large misalignment tolerance

References

[1] PiedboeufJ, DupuisE. Recent Canadian activities in space automation & robotics-an overview [C]. Proceedings of the 7th ESA workshop on Advanced Space Technologies for Robotics and Automation ASTRA 2002, 2002Noordwijk, NetherlandsESA58-67

[2] LAWRENCE G, DERRY C. Satellite refueling system and method: US, US 2008/0237400 A1 [P]. 2008-10-02.

[3] KingD. Space servicing: past, present and future [C]. Proceedings of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space i-SAIRAS 2001, 2001Quebec, Canadai-SAIKAS48-55

[4] PattenL, EvansL, OshinowoL, PattenL, EvansL, OshinowoL, OchisorM, KazuharueN, LodewijkA, TabarahE. International space station ro-botics: A comparative study of ERA, JEMRMS and MSS [C]. The 7th ESA workshop on Advanced Space Technologies for Robotics and Automation ASTRA 2002, 2002Noordwijk, NetherlandsESA1-8

[5] DotetschK. The remote manipulator system for the space shuttle or-biter [C]. Proceedings of the Annual Meeting of DGLR, 1977Berlin, GermanyDGLR261-269

[6] KuwaoF, OtsukaA, HayashiM, AkioY, YasufumiW, SatoN, DoiS. Operation concept on JEMRMS [C]. Proceedings of the 7th International Symposium on Arti-ficial Intelligence and Robotics & Automation in Space i-SAIRAS 2003, 2003Nara, Japani-SAIRAS184-189

[7] HeemskerkC J, VisserM, VranckenD. Extending ERA’s capabilities to capture and transport large payload [C]. Proceedings of the 9th ESA workshop on Advanced Space Technologies for Robotics and Automation ASTRA 2006, 2006Noordwijk, NetherlandsESA1-8

[8] LiuH, TanY-s, LiuY-w, JieD-y, GaoK, CaiH-gao. Development of Chinese large-scale space end-effector [J]. Journal of Central South University of Technology, 2011, 18: 600-609

[9] FengF, LiuY-w, LiuH, CaiH-gao. Design schemes and comparison research of the end-effector of large space manipulator [J]. Chinese Journal of Mechanical Engineering, 2012, 25(4): 674-687

[10] ZhuY-y, ShiS-c, XieZ-w, LiuHong. Space gripper configuration and its dimension synthesis based on genetic algorithm [J]. High Technology Letters, 2008300-303

[11] LiuY, NiF-l, LiuH, XuW-fu. Enhancing pose accuracy of space robot by improved differential evolution [J]. Journal of Central South University, 2012, 19: 933-943

[12] LiuY, LiuH, NiF-l, XuW-fu. New self-calibration approach to space robots based on hand-eye vision [J]. Journal of Central South University of Technology, 2011, 18: 1087-1096

[13] GuM, PiedboeufJ C. A flexible-arm as manipulator position and force detection unit [J]. Journal of Control Engineering Practice, 2003, 11(4): 1433-1448

[14] HERBERT F, MEE A. grappling device: US, 4105241[P]. 1978-08-08.

[15] QuittnerE, VandersluisR, RakhshaJ, FarmerI. System and concept de-sign of the SSRMS latching end effector [C]. Proceedings of the 3rd European Space Mechanism & Tripology Symposium, 1987Madrid, SpainESMTS93-103

[16] FehseWAutonomous rendezvous and docking spacecraft [M], 2003New YorkCambridge University Press

[17] KAUDERER A. Space shuttle mission STS-129 press kit[EB/OL]. [2010-01-29]. http://www.nasa.gov/pdf/398418mainsts129presskit.pdf.

[18] WalkerB, VandersluisR. Design, testing and evaluation of latching end effector [C]. Proceedings of the 29th Aerospace Mechanisms Symposium, 1995Leaue City, USAAMS1-16

[19] FengF, LiuY-w, LiuH, CaiH-gao. Design and simulation analysis of a space end-effector with large misalignment tolerance [J]. Robot, 2011, 33(6): 691-699