Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Nanjing University of Aeronautics & Astronautics》 2018-03
Add to Favorite Get Latest Update

Misalignment Tolerance Analysis and Verification of Space Reusable Lock and Separation Device

ZHANG Wenxing;YUE Honghao;LIU Wei;YANG Fei;WANG Gang;GAO Yimeng;State Key Laboratory of Robotics and System,Harbin Institute of Technology;Beijing Institute of Spacecraft System Engineering;  
The capability of misalignment tolerance is an important requirement for the capture of the cooperative target,which can offset the position and orientation errors of the cooperative target that is caused by the space manipulators. A reusable lock and separation device with a certain misalignment tolerance is presented and designed according to the capture way of the cooperative target of on orbit service platform,which can lock and separate the cooperative target under the assistance of the space manipulator. The D-H matrix between the arbitrary point of the cooperative target and the coordinate system of reusable lock and separation device is established. In addition,the mathematical model of the trajectory of key points of the ball head is completed. In order to verify the feasibility of the device design,the misalignment tolerance is analyzed by the presented way of the projection of key points. The dynamics simulation of the misalignment tolerance performance is carried out through ADAMS software. Besides,the experiment of the prototype is carried out. The reusable lock and separation device of misalignment tolerance is validated through the simulation and experimental results.
【Fund】: 机器人技术与系统国家重点实验室(哈尔滨工业大学)自主研究课题(SKLRS201614B)资助项目
【CateGory Index】: V423
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved