[1]吕辛,夏艳,刘荣强.欠驱动自适应式捕获装置设计[J].哈尔滨工程大学学报,2016,37(12):1709-1715.[doi:10.11990/jheu.201512077]
 LYU Xin,XIA Yan,LIU Rongqiang.Design of an under-actuated self-adaptive capture device[J].hebgcdxxb,2016,37(12):1709-1715.[doi:10.11990/jheu.201512077]
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
37
期数:
2016年12期
页码:
1709-1715
栏目:
出版日期:
2016-12-25

文章信息/Info

Title:
Design of an under-actuated self-adaptive capture device
作者:
吕辛1 夏艳2 刘荣强1
1. 哈尔滨工业大学 机电工程学院, 黑龙江 哈尔滨 150001;
2. 中国运载火箭技术研究院战术武器事业部, 北京 100076
Author(s):
LYU Xin1 XIA Yan2 LIU Rongqiang1
1. School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China;
2. Tactical Weapons Division of China Academy of Launch Vehicle Technology, Beijing 100076, China
关键词:
空间捕获欠驱动机械手自适应性运动学分析抓取实验
分类号:
V445.4
DOI:
10.11990/jheu.201512077
文献标志码:
A
摘要:
空间捕获作业是在轨服务的重要组成部分,采用全驱动关节式机械臂进行空间捕获存在结构复杂、质量大等问题。本文针对空间捕获作业的设计要求,提出一种具有折展和抓取功能的欠驱动自适应式空间捕获装置。该装置采用行星传动实现1个驱动源驱动2个关节的转动,该装置包括三个3自由度的欠驱动机械手指,采用4个电机驱动9个关节运动,且对被捕获对象具有自适应能力。介绍了捕获手抓的设计方案、工作原理,建立捕获装置单指的坐标系,对捕获装置进行了运动学分析。最后通过样机捕获实验,验证了该装置能够实现不同外形尺寸目标的自适应捕获。

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备注/Memo

备注/Memo:
收稿日期:2015-12-22
基金项目:国家自然科学基金项目(51275107);黑龙江省博士后基金项目(LBH-Z14109).
作者简介:吕辛(1981-),男,助教,博士;刘荣强(1965-),男,教授,博士生导师.
通讯作者:刘荣强,E-mail:liurq@hit.edu.cn.
更新日期/Last Update: 2017-01-06