| | 摘要 针对中小型自移动空间机械臂在轨操作和“换位行走”的任务需求，研制了一种小型化、大容差、高刚度可靠连接的末端执行器及其相应的目标适配器．末端执行器采用单一驱动实现捕获、拉紧锁合、解锁和电连接器插拔等多种功能．考虑捕获容差条件及锁合性能要求，对末端执行器的关键机构参数进行设计．通过ADAMS建立虚拟样机，对捕获容差及锁合的功能性能进行验证．最后通过样机实验对末端执行器的功能进行验证，验证了设计的可行性及仿真的准确性． |
| | 关键词 ： 空间机械臂, 末端执行器, 目标适配器, 抓取机构, 捕获 | | Abstract：In order to satisfy the requirements of small and medium self-mobile space manipulator to operate and walk on the space station, a novel end-effector and its grapple interface with characteristics of miniaturization, large-tolerance and high stiffness connection are developed. The end-effector can accomplish multiple functions with a single driving mechanism, such as capturing, rigidization, releasing and electrical connection. Considering the requirement of the tolerance condition and locking performance, the key parameters of the end-effector are designed. In the virtual prototype built in ADAMS, dynamic simulation of capturing and rigidization is analyzed. The function of the end-effector is verified by the prototype experiment, proving the feasibility of the design and the correctness of the simulation. | | Key words： space manipulator end-effector grapple interface grapple mechanism capture | | 收稿日期: 2016-05-19 | | | 基金资助:载人航天领域预先研究项目（030401） | | 通讯作者: 韩亮亮，hllrob@163.com E-mail: hllrob@163.com | 作者简介: 韩亮亮（1987-），男，硕士，高级工程师．研究领域：空间机器人机构与控制，空间智能操控系统．
赫向阳（1991-），男，硕士生．研究领域：机器人机构与控制，空间遥操作． |
| 引用本文: | 韩亮亮, 赫向阳, 杨健, 陈萌. 一种自移动空间机械臂末端执行器的研制[J]. 机器人, 2016, 38(6): 720-726.
HAN Liangliang, HE Xiangyang, YANG Jian, CHEN Meng. Research on a Novel End-effector for Self-mobile Space Manipulator. ROBOT, 2016, 38(6): 720-726. | | | | | 链接本文: | | http://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0720 或 http://robot.sia.cn/CN/Y2016/V38/I6/720 |
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