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Development of a novel end-effector for an on-orbit robotic refueling mission
Liu JG(刘金国)1,2; Tong YC(佟玉闯)1,2,3; Liu YJ(刘云军)1,2,3; Liu YW(刘玉旺)1,2
Department空间自动化技术研究室
Corresponding AuthorLiu, Jinguo(liujinguo@sia.cn)
Source PublicationIEEE Access
ISSN2169-3536
2020
Volume8Pages:17762-17778
Indexed BySCI ; EI
EI Accession number20200908221336
WOS IDWOS:000524753200101
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China under Grant 2018YFB1304600 ; Natural Science Foundation of China under Grant 51775541 ; Chinese Academy of Sciences (CAS) Interdisciplinary Innovation Team under Grant JCTD-2018-11
KeywordOn-orbit servicing robotic refueling mission end-effector imitating human hand collision dynamics analysis
Abstract

At present, the space station on-orbit service is still rapidly developing, and on-orbit refueling operation has not been fully realized. During the process of an on-orbit robotic refueling mission, the pipe disconnectors are artificially docked, and the problems of low efficiency and a long operation period are common. From the perspective of bionics, this paper studies the kinematics of the upper limbs in the manual docking process of the pipeline quick disconnector and analyses the redundant degrees of freedom in the manual docking process. In this paper, without changing the original structure of the quick disconnector, a five-degrees-of-freedom multifunctional end-effector imitating the human hand with a compact structure and a light weight was created, which can realize the automatic docking of the quick disconnector in the pipeline. The quick disconnector docking in the refueling system is simplified from the original manual, two-handed operation to a single-end-effector operation with a single mechanical arm. Compared with a dual-arm robot, a single-arm robot has the advantages of internal force sealing, a stable structure, a higher docking accuracy and a lower cost. The common rigid body contact collision dynamics problem is thus studied. The contact dynamics model between the 'quick disconnector and the robot end-effector' is established by the equivalent spring damping model method. The experimental prototype was developed according to the structure of the end-effector to complete the construction of the refueling robot experimental platform. A simulation and experiment were conducted to verify the advantages and effectiveness of the structure.

Language英语
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS KeywordDYNAMICS ; CONTACT ; PART ; FLEXIBILITY ; SIMULATION ; SPACECRAFT ; MANIPULATOR ; SYSTEM
WOS Research AreaComputer Science ; Engineering ; Telecommunications
Funding ProjectNational Key Research and Development Program of China[2018YFB1304600] ; Natural Science Foundation of China[51775541] ; Chinese Academy of Sciences (CAS) Interdisciplinary Innovation Team[JCTD-2018-11]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26362
Collection空间自动化技术研究室
Corresponding AuthorLiu JG(刘金国)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of the Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Liu JG,Tong YC,Liu YJ,et al. Development of a novel end-effector for an on-orbit robotic refueling mission[J]. IEEE Access,2020,8:17762-17778.
APA Liu JG,Tong YC,Liu YJ,&Liu YW.(2020).Development of a novel end-effector for an on-orbit robotic refueling mission.IEEE Access,8,17762-17778.
MLA Liu JG,et al."Development of a novel end-effector for an on-orbit robotic refueling mission".IEEE Access 8(2020):17762-17778.
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