Title: A space robot manipulator system: designed for capture

Authors: Jiayu Liu; Qinglin Fan; Tao Yang; Ke Li; Qiang Huang

Addresses: School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China; China Academy of Launch Vehicle Technology (CALT), Beijing Institute of Precision Mechanical and Electrical Control Equipment (The 18th Institute), 1 Nandahongmenlu, Fengtai, Beijing, China ' China Academy of Launch Vehicle Technology (CALT), Beijing Institute of Precision Mechanical and Electrical Control Equipment (The 18th Institute), 1 Nandahongmenlu, Fengtai, Beijing, China ' China Academy of Launch Vehicle Technology (CALT), Beijing Institute of Precision Mechanical and Electrical Control Equipment (The 18th Institute), 1 Nandahongmenlu, Fengtai, Beijing, China ' China Academy of Launch Vehicle Technology (CALT), Beijing Institute of Precision Mechanical and Electrical Control Equipment (The 18th Institute), 1 Nandahongmenlu, Fengtai, Beijing, China ' Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China

Abstract: The paper describes a space robot hand arm system designed for non-cooperative object capture. According to analysis on the characteristics of non-cooperative target capture on-orbit, a three fingers end-effector was designed. The detailed design of a modular space manipulator joint was described. To meet the nice performance of hand arm system in space applications, a communication and computing embedded systems was designed. We established an experimental platform in library for single joint test, with that proved the joint had enough precision, speed, and torque performance. At the same time, we constructed an experimental system for manipulator on air-bearing table, with that proved the manipulator had nice location precision. Experimental results showed that the hand arm system was able to meet the needs of the on-orbit application.

Keywords: space robots; space manipulators; end-effectors; hand arm systems; non-cooperative object capture; ground verification; system experiments; real time control; on-orbit target capture; adaptive design; space environment; robot design; modular robots; embedded systems; finger joints; robot fingers; joint precision; joint speed; torque performance; location precision.

DOI: 10.1504/IJMA.2015.075958

International Journal of Mechatronics and Automation, 2015 Vol.5 No.2/3, pp.125 - 132

Available online: 18 Apr 2016 *

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