Design of an Universal Installation Method for Spacecraft Heavy-weight Instruments Based on Adjustable Robot End-effector

In recent years, intelligent assembly system based on robots has been widely used in spacecraft assembly, which greatly improves assembly accuracy and efficiency. Because there are many kinds and sizes of instruments on spacecraft, different end-effectors are usually developed for different kinds of instruments in the assembly process, which brings heavy developing work and high economic cost. Therefore, this paper designs the installation method of spacecraft heavy-weight instruments based on universal adjustable end-effector, and develops a universal adjustable end-effector, which has been tested and verified to meet the needs of use. It improves assembly efficiency and reduces cost.