Design, testing and evaluation of an end-effector for self-relocation. Issue 12 (3rd July 2015)

• Record Type: Journal Article
• Authors: Han, Feng; Sun, Kui; Liu, Yu; Liu, Hong
• Is Part Of: Robotica. Volume 34:Issue 12(2016)
• Page Start: 2689
• Page End: 2728
• Publication Date: 2015-07-03
• Subjects: End-effector, -- Self-relocation, -- Servicing capability, -- Space manipulator, -- Capture misalignment envelope; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574715000302
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: Two identical end-effectors are indispensable for self-relocation of a space manipulator, which is an effective way of extending its servicing capability. The prototype design is intimately linked to the requirements. The significant features and functionality of the end-effector and its grapple fixture are described, including the key analysis efforts. The characteristics of the end-effector and their suitability for self-relocation and payload handling were confirmed by testing, which used two prototype end-effectors, a semi-physical simulation testbed system with two, six degrees of freedom (DOF) industrial robot arms, and an air-bearing testbed system with a seven DOF manipulator. The results demonstrate that the end-effector satisfies the requirements and it can work well in a simulated space environment. With the compliance motion of the manipulator, the end-effector can perform soft capture and the manipulator can securely self-relocate and handle the payload.