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This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License
Article
A Study on the End-Effector Exchange Mechanism of a Space Robot
Author(s)
Rui Qu1, Yuto Takei1, Mitsushige Oda1, Hiroki Nakanishi1, Armin Wedler2 and Kent Yoshikawa1
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DOI:10.17265/2159-5275/2017.05.005
Affiliation(s)
ABSTRACT
This
study investigates the
necessity for space robots to
independently exchange their end-effectors due to the contradiction that exists between the requirements of
various robots in space missions and the payload capacity limits of rockets.
The results of this study summarize the system requirements for a new end-effector exchange
mechanism, including compact size,
misalignment tolerance, and regolith tolerance. This is followed by the development of a prototype
model with a set of test apparatus. Then the function of the prototype is verified, the
prototype is optimized, and the relation between docking force and misalignment
is examined through
operation tests.
KEYWORDS
Space robot, end-effector exchange mechanism, operation test.
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