摘要
针对太空碎片抓取任务对抓捕机构的工作空间及灵活性等方面的要求,设计出1种采用人工卷绕纤维驱动的串并混联3指灵巧手。通过对手指的运动学分析,确定了每只手指的运动空间,并根据雅克比矩阵,采用条件数研究了其灵巧工作空间。利用人工卷绕纤维的温度-应变数据,设计出其温度控制模型。经计算验证,该灵巧手具有较大的工作空间及良好的灵活性,可以满足太空碎片抓取任务对抓捕机构的诸多要求。
For the requirements of gripping structure's workspace and flexibility proposed by the space debris capture mission,a three-finger dexterous serial-paraUel hybrid structure actuated by artificial torsional fibers is designed.By studying the kinematics of the finger,workspace of every finger is determined,and according to the Jaeobi matrix,every finger's flexible workspace is studied by the condition number.Using the temperature-strain.data of the artificial fibers,the temperature control model is designed.The calculational verification proved that this dexterous hand has big workspaee and good flexibility,and it can satisfy the requirements of the space debris capture mission.
作者
孙振川
何俊
陈龙海
SUN Zhenchuan;HE Jun;CHEN Longhai(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)
出处
《机械设计与研究》
CSCD
北大核心
2019年第1期7-13,共7页
Machine Design And Research
基金
国家自然科学基金(51575337)
装备预研航天联合基金(6141B06220407)资助项目
关键词
太空碎片抓取
人工卷绕纤维
灵巧手
串并混联
人工肌肉
space debris capturing
artificial torsional fibres
dexterous hand
serial-parallel hybrid structure
artificial muscles
