Research On The Capturing Strategy Of A Space Gripper

Space robot is among the fastest growing scientific research areas. It has the advantages of performing space operations instead of astronauts so as to reduce the cost of space operations, which makes itself a promising subject among countries. As the end-effecter of the space robot, the space gripper is an important research subject. This article analyzed the capture operation of a space gripper from three aspects, including the theoretical aspect, simulation aspect and experimental aspect.This article first analyzed the structure of the gripper system, and defined several special gripping operations as well as the coordinate system of the gripper. Then researched the whole process of grasping, designed the capturing process base on visual system, and then studied the kinematics and dynamics of the space robot system, which laid a theoretical foundation for later analysis.How to position the handle is a related question during the capture operation. This paper used a specially designed structure gripper to solve the position question in different cased. After that we discussed the distribution of the velocity during the capture operation, and studied the trajectory planning of the operation. Then we analyzed the contact and collision phenomenon in the capture process and obtained the equations of the contact. A detailed analytical study of collision equation is studied. Then we analyzed the reasons as well as solutions of failure capture operations. On the other hand the problem of how to release the target after the completion of the operation task and the trajectory plan of the gripper from lock position to close position were studied.In order to study the feasibility of the capture strategy of the space gripper and the facts which may influence the capture, simulation and experiments are carried out. Computer simulation showed that the gripper can perform the capture task. The effective capture area of space gripper is obtained through a large number of tests; additionally, by changing the closing speed of the grip, the effect of the different grasping strategies is obtained under the same initial positions.This project is related to the key national 863 project; the paper mainly researches the capture strategy of the space gripper. Research of this topic can be expanded to the space gripper applications. It will lay a foundation for the widespread applications in the space environment in the future.