Research On Optimization Of End-tools Exchange Device Of Space Robot And Tools Replacement

With the continuous advance of human space exploration, space explorationmissions trend to be more and more diversified and complicated. The variety of spacemissions inquired end effectors with different functions, which leads to the increasingdeveloping and launching expense. So it is very necessary to develop the end effectorwith exchangeable end tools to extend the function of the space robot. The paperinstitutions to optimize the end effector with exchangeable end tools in laboratory, thenexecutes the displacement tolerance analysis, simulation and experiment, and finally thetool replacement were studied combined with space manipulator.Through comprehensive analysis of existing similar research abroad, this paperpresents a intermittent motion mechanism evolved by the timing of institutions, in orderto achieve the end of the capture tool changer locking, shaft connection and electricalconnection such as a driver to complete the three functions. By the corresponding partsof the design of three-dimensional modeling software, virtual assembly, interferencechecking. And use of virtual prototyping technology to major institutions, kinematics,dynamics analysis. Finally, using the finite element analysis software complex structure,load-bearing components and method of calculation of typical structural componentswas checked.Displacement tolerance is an important indicator of the tool end of the actuator canbe replaced. In this paper, in the end the establishment of the coordinate system, andtool-side through the critical surface projection analysis obtained the required geometrylooks wrong conditions and friction conditions obtained by stress analysis. Simulationanalysis, the typical position and orientation deviation of the state through virtualprototyping technology to verify the fault tolerance, and the corresponding contact force.And build a supple experimental platform to verify the simulation results. Excluding theimpact of the accuracy of the experimental device itself, the experimental results andsimulation results are similar.Finally, the combination of the above results of the analysis of fault tolerance,analysis of the end of the tool to replace the process of docking strategy, combined withthe four-DOF space manipulator soft docking experiments.