research on the robot end-capturing mechanism for the space debris removal
- Paper number
IAC-17,A6,IP,19,x41722
- Year
2017
- Abstract
According to the features of the space robot and its on-orbit capture for the space debris,a kind of space robot end-capturing mechanism which take the space debris as manipulation target is presented.The capability of large misalignment tolerance and hard locking are the two important requirements for the end-capturing mechanism.The large misalignment tolerance can offset the end-position error of the space robot,and the hard locking can avoid the locking failure between the end-capturing mechanism and the target.In this paper,the elaborate design of the proposed end-capturing mechanism scheme is completed.The results of the capture simulation and experiment show that the end-capturing mechanism has outstanding capabilities of large misalignment tolerance and hard locking,which satisfied for the requirements of on-orbit capture for the space debris.
- Abstract document
- Manuscript document
(absent)