Design and Analysis of End-Effector for Multi-Target Spatial Operation

With the development of space robot technology, it has become the main technical means to complete space payload replacement and operation with space manipulator. The end-effector is transferred to the desired position and attitude by space manipulator firstly, then end-effector conducts the final positioning and locking of the operating target. As the main part of space payload operations, the end effector requires large capture domain, high capture accuracy and high locking stiffness, which needs further research. A set of progressive closing capturing and positioning end-effector with synchronous action is designed in this paper according to the operation requirements of large range maneuvering with replaceable payload and high precision capturing and positioning. It has the characteristics of large position difference, small volume quality and universal capture interface. The transmission mechanism and capture finger configuration of end-effector are designed. A compliant control space manipulator with an end-effector is used to carry out replaceable payload capture test. The capture locking accuracy is measured in the air-bearing micro gravity environment. Based on the precision calibration results, the single-double finger configuration is optimized. Finally, the effectiveness of the design and control method of the end-effector are verified on ground test.