Paper Info
Title
Design of the force sense unit for space robot end-effector
Abstract
In the process of space robot capturing, the space robot end-effector was in open-loop state, and the robot controller could not estimate if the capture interface was in desired position. Hence a force sense unit adapted to vicious outer space environment used as the capturing force feedback to the control system was designed. By the method of mechatronics integration design, the force sense unit was integrated into the robot end-effector, which enhanced the reliability, reduced the installing and debugging difficulty. The structure of sensor's elastomer was modeled, and then it was analyzed by the FEA software Patran/Nastran. At last, inherence frequency of the sensor was figured out from mode analyzing, and a number of object capture tests were carried out. Experimental results showed that degree of non-linearity (1.7%), delicacy (0.0025 V/N) and stability of the sensor unit was significantly accorded with the design targets of space robot end-effector.
Year
DOI
Venue
2009
10.1109/ROBIO.2009.5420437
ROBIO
Keywords
Field
DocType
sensor demarcate,fea nastran software,force sensors,space robot,sensor unit,space robot end effector,fea analyzing,elastomers,capture interface,force sensor,space robot end-effector,vicious outer space environment,sensor elastomer,control engineering computing,end effectors,robot controller,aerospace robotics,robot end-effector,force feedback,force sense unit,design target,mechatronics,fea patran software,mechatronics integration design,stress,control systems,control system,force
Control theory,Robot end effector,Finite element method,Control engineering,Software,Control system,Engineering,Robot,Mechatronics,Haptic technology,Debugging
Conference
ISBN
Citations 
PageRank 
978-1-4244-4775-6
0
0.34
References 
Authors
2
5
Name
Order
Citations
PageRank
Qingli Zhang100.34
Yingyuan Zhu200.34
Fenglei Ni3268.22
Yongbin Wang400.34
Hong Liu521348.37