摘要
In order to meet the requirements of on-orbit servicing outside the cabin, a flexible, dexterous hand with easy grasping ability and strong loading capacity is designed. The dexterous hand is comprised of three fingers. Each finger is driven by a set of four linkages. Furthermore, two fingers have a set of axial rotational degrees of freedom. In order to achieve the position control and keep griping stability, the dexterous hand adopts a mechanism of hybrid force/position control. In the end, experimental results demonstrates that the on-orbit servicing dexterous hand has great adaptability and operational capability.
In order to meet the requirements of on-orbit servicing outside the cabin,a flexible,dexterous hand with easy grasping ability and strong loading capacity is designed.The dexterous hand is comprised of three fingers.Each finger is driven by a set of four linkages.Furthermore,two fingers have a set of axial rotational degrees of freedom.In order to achieve the position control and keep griping stability,the dexterous hand adopts a mechanism of hybrid force/position control.In the end,experimental results demonstrates that the on-orbit servicing dexterous hand has great adaptability and operational capability.
基金
Supported by the National Natural Science Foundation of China(61733001,61573063,61503029,U1713215)
