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为解决空间在轨服务中螺钉的拆装对高精度、精细操作的需求,与视觉误差、机械臂运动误差间的矛盾,设计了一种具有容差能力的螺钉拆装工具,并研制了其原理样机。螺钉的拆装涉及到刚体间的接触与碰撞,为保证工具可靠、平稳地完成任务,开展了螺钉拆装控制策略的研究,并搭建了地面实验平台,利用该平台进行了螺钉拆装的实验验证。结果表明,所设计的工具能够顺利完成螺钉的拆装任务。
In order to solve the problem of high precision and fine operation of disassembly and assembly of screws in on-orbit service, and the contradiction between visual error and movement error of the manipulator, a kind of screw disassembly and assembly tool with tolerance was designed and its Principle prototype. To disassemble and assemble screws involves the contact and collision between rigid bodies. In order to ensure the reliable and smooth completion of the tasks of the tools, the screw disassembly and assembly control strategy was studied and a ground experimental platform was set up. The disassembly and assembly experiments of the screws verification. The results show that the designed tool can successfully accomplish the task of screw disassembly.