| 空间微型合作目标捕获装置的研究 |
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| 引用本文： | 唐能,朱映远,刘宏. 空间微型合作目标捕获装置的研究[J]. 机械制造, 2007, 45(11): 15-19 |
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| 作者姓名： | 唐能 朱映远 刘宏 |
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| 作者单位： | 哈尔滨工业大学机器人研究所,哈尔滨150001 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 针对空间微型合作目标跟踪捕获任务,研制了具有稳定抓握、多感知、高刚度、高精度、大夹持力、大容错误差校正能力的新型捕获装置.其中,三指形手爪是带有手眼视觉的多传感型手爪,驱动链里加入一套高效率质量轻的反转自锁机构,同时手爪与微型目标器配合设计,冗余容错技术的引入及紧急解锁机构的设计保证了手爪的高可靠性.手爪的试验与测试,证明了手爪优越的抓捕性能与可靠性.
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| 关 键 词： | 空间 微型合作目标 三指形手爪 自锁机构 空间 微型 合作 目标捕获 装置 研究 Objects Cooperative Micro Space Unit Acquisition 性能 测试 试验 高可靠性 配合设计 自锁机构 冗余容错技术 目标器 |
| 文章编号： | 1000-4998（2007）11-0015-05 |
| 修稿时间： | 2007-05-01 |
Research on Acquisition Unit of Space Micro Cooperative Objects |
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| Tang Neng,Zhu Yingyuan,Liu Hong. Research on Acquisition Unit of Space Micro Cooperative Objects[J]. Machinery, 2007, 45(11): 15-19 |
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| Authors: | Tang Neng Zhu Yingyuan Liu Hong |
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| Abstract: | Based on the tasks of tracking and acquiring a cooperative object in space, a new type acquisition unit has been developed, featuring stable grasping, high sensitiveness, high rigidity, powerful clamping force and great fault tolerance and error correction capability. The three-finger gripper is a multi- sensor type one with hand-eye vision. There is a high-efficiency and light-weight reverse-rotation and self-locking mechanism in the drive chain. The design of the gripper fits with the object acquisition unit. The introduction of redundancy and error correction technology and the design of emergency unlocking mechanism ensure high reliability of the gripper. The tests have shown the superior grasping performance and reliability of the gripper. |
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| Keywords: | Space Cooperative Object Three-finger Gripper Self-locking Mechanism |
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