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Under-actuated spatial manipulator end effector

A technology of space manipulators and end effectors, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of large size and heavy weight of under-actuated multi-fingered hands, and achieve the elimination of posture maintaining mechanism, light weight and low structure simple effect

Inactive Publication Date: 2015-06-03
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the existence of the posture maintaining mechanism, the underactuated multi-fingered hand is bulky and heavy

Method used

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  • Under-actuated spatial manipulator end effector
  • Under-actuated spatial manipulator end effector
  • Under-actuated spatial manipulator end effector

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] The end effector of the present invention mainly includes the following components:

[0022] Three two-degree-of-freedom mechanical fingers 7, a brushless servo motor and a planetary gear reducer 3, a set of reduction gears, a set of sliding screw assembly 3, a finger mounting plate 1, a finger drive plate 9, and a motor Mounting plate 11, three guide shafts 8, controller 6 and connecting flange 13, such as figure 1 shown (with two fingers hidden). The connecting flange 13 is the fixed end of the end effector, which is connected with the output end of the intelligent joint of the space manipulator. The bottom end of the controller 6 is coaxially connected with the connecting flange 13 , the top end is connected with the lower casing 12 , and the top end of the lower casing is coaxially fixed with the motor mounting plate 11 . Servomotor, sliding lead screw 3 and guide shaft are mounted upside down on the same side of the motor mounting plate 11, and are connected by l...

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Abstract

Disclosed is an under-actuated spatial manipulator end effector. A single-sleeve screw nut drives a finger drive platform to drive three mechanical fingers synchronously, and the structural synchronization is improved. By means of parallel-connection transmission arrangement, in other words, a drive motor is arranged on the screw on the same side obliquely through spur gear transmission, the axial length of the end effector is decreased greatly, the entire weight is reduced, and the strength and moving flexibility of the manipulator system are improved.

Description

technical field [0001] The invention relates to an end effector of a space manipulator, in particular to a small and lightweight three-finger underactuated end effector of a space manipulator with few degrees of freedom. Background technique [0002] With the development of the aerospace industry, especially the implementation of a series of programs such as on-orbit service, space attack and defense, and deep space exploration, the research and exploration of complex and powerful space manipulators has become a new direction of space research. Among them, the end effector is an important part of the space manipulator, and the operation level of the end effector is directly related to the ability of the space manipulator to perform complex tasks. [0003] The end effector is a device that directly performs work, and it has a great influence on expanding the working function, application range and improving work efficiency of the space manipulator. The requirements for grasp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10
Inventor 张栩曼邓涛周海平范庆麟耿树鲲王燕波许剑张博
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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