空间大型末端执行器抓捕容差优化及其仿真-机器人.PDF

34 6 ROBOT Vol.34, No.6 2012 11 Nov., 2012 DOI 10.3724/SP.J.1218.2012.00715 1 2 1 1. 132012 2. 132021 (128.58 mm, T 128.58 mm, 100 mm, 15.12 , 15.12 , 16.32 ) V423.7 A 1002-0446(2012)-06-0715-07 Grapple Tolerance Optimization and Simulation of Large-scale Space End-effector TAN Yisong1 REN Limin2 ZHANG Haibo1 (1. School of Mechanical Engineering, North East Dianli University, Jilin 132012, China; 2. School of Mechanical Engineering, Beihua University, Jilin 132021, China) Abstract: In order to make use of large-scale space end-effector’s grapple performance farthest, this paper gets fixed grapple tolerance of end-effector from the perspective of optimization design, other than from the perspective of traditional mechanism design. According to end-effector’s working procedure and principle, the grapple tolerance is divided into two parts: capture tolerance and retract tolerance. Through analyzing structural factors influencing large-scale end-effector’s grapple tolerance, capture and retract tolerance optimization models are developed respectively. The optimized grapple T tolerance (128.58 mm, 128.58 mm, 100 mm, 15.12 , 15.12 , 16.32 ) is acquired based on line