空间三指-三瓣式大容差末端执行器容差分析

被引：2

作者：

丰飞

刘伊威

刘宏

蔡鹤皋

机构：

[1] 哈尔滨工业大学机器人技术与系统国家重点实验室

来源：

机械设计与制造 | 2014年 / 04期

关键词：

空间站大型机械臂; 末端执行器; 容差; 坐标变换; ADAMS仿真;

D O I：

10.19356/j.cnki.1001-3997.2014.04.078

中图分类号：

TP241 [机械手];

学科分类号：

080202 ; 1405 ;

摘要：

容差能力是空间大型机械臂末端执行器的首要性能要求,大容差能力可以使末端执行器能弥补大型机械臂末端定位误差大的缺点。提出了一种具有大容差性能的末端执行器设计方案,并提出了基于坐标变换和关键点投影的方法,分析了影响末端执行器容差性能的关键因素,从而确定了接口的外径和楔形角以及末端执行器的包络空间尺寸是影响末端执行器容差性能的主要因素,根据分析结果对末端执行器和接口进行详细设计。通过ADAMS对详细设计的末端执行器进行了容差性能仿真分析,结果表明所提出的末端执行器方案满足容差性能要求,并验证了容差分析方法的正确性。

引用

页码：252 / 255

页数：4

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