Modelling and Simulation Analysis of Three-finger Style End-effector of Space Robot

A three-finger style grab mechanism is designed for space robot capturing a replaceable module on orbit in this paper. The grab mechanism is simplified by mathematical method and the grasping process is analyzed, then the collision detection model is built. The collisions between fingers and the matcher's V-shaped grooves, between fingers and the matcher bottom surface, between the matcher bottom surface and the manipulator end-platform are analyzed in detail. The dynamic model of space floating base with six degree of freedom manipulator is established. The collision impact on the space robot is diminished by the application of the joint active damping control. The cases that the matcher has axial position error, radial position error, axial attitude error and radial attitude error at initial time are simulated. The results indicate that the three-finger style grab mechanism can complete the module grasp, the position and attitude error can be eliminated effectively.