Capture tolerance capacity testing system and method of three-jaw type space end effector in microgravity environment

Abstract

The invention discloses a capture tolerance capacity testing system and method of a three-jaw type space end effector in a microgravity environment, and relates to a target interface capture tolerance capacity testing system and method of a three-jaw type space manipulator end effector in the microgravity environment. The problems that an existing microgravity platform verification system is complex, poor in safety and reliability and not capable of achieving six-degree-of-freedom motion of a mechanical arm or a spacecraft in the three-dimensional space of the microgravity environment can be solved. The capture tolerance capacity testing system comprises a capture subsystem, a target subsystem and a measurement subsystem. The capture tolerance capacity testing method includes the steps that first, the capture tolerance capacity testing system is mounted; second, the original position and the coordinate axis of a coordinate system of the space end effector are determined; third, the pose of the three-jaw type space end effector is determined; fourth, the pose of a target to be captured is determined; fifth, the pose deviation of the target to be captured relative to the space end effector is acquired; sixth, a capture test is carried out under different pose deviations. The capture tolerance capacity testing system and method of the three-jaw type space end effector in the microgravity environment belong to the field of space robots or spacecraft ground verification systems.

Description

technical field [0001] The invention belongs to the field of ground verification systems for space robots or spacecraft, and relates to a tolerance capability testing system and method for a three-claw space manipulator end effector capturing a target in a microgravity environment. Background technique [0002] When the general space manipulator performs on-orbit service, it is required to ensure the reliability and stability of its work. As the end effector is used as a capture or handling tool, its reliability will have a greater impact on the reliability of the entire system task completion. Due to the influence of the space microgravity environment, the target is in a microgravity state, and its pose state will be disturbed by the contact force of capture or operation, and there is also a certain pose due to the positioning accuracy and visual servo accuracy of the manipulator itself. Therefore, the operation of the space end effector to capture the target needs to have...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve the problem that other existing microgravity platform verification systems are complex, poor in safety and reliability, and do not have versatility. The six-degree-of-freedom movement of the arm or spacecraft in three-dimensional space provides a three-jaw space end-effector capture tolerance capability test system and method in a microgravity environment

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