期刊
ACTA ASTRONAUTICA
卷 152, 期 -, 页码 509-520出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.actaastro.2018.08.050
关键词
Type synthesis; Non-holonomic spherical constraint; Underactuated mechanism; Parallel mechanism; Space robotics; On-orbit servicing
资金
- National Natural Science Foundation of China [51675319]
- Open Project of Key Laboratory of Shanghai Aerospace System Engineering Institute
Space robotics is taken as one of the most promising approaches for on-orbit servicing missions. The under actuated non-holonomic parallel mechanism is a new direction of parallel space robotics, with small volume, lightweight, low cost, low energy consumption, and high flexibility. The existing methods on type synthesis could not generate underactuated non-holonomic parallel mechanisms with the introduction of the non-holonomic spherical pairs in parallel mechanisms. This paper is devoted to type synthesis of underactuated parallel mechanisms with spherical motion pattern accompanied by the generation of the non-holonomic spherical pairs in parallel mechanisms with spherical motion pattern. After the introduction of the traditional roller-sphere contact, this paper proposes a novel roller-sphere contact. After this paper provides the type synthesis of parallel mechanisms with spherical motion pattern, it puts forward the generation method of non-holonomic spherical pairs in parallel underactuated mechanisms with spherical motion pattern. The non-holonomic underactuated joint mechanism of a space robot for on-orbit servicing operations is taken as an example to demonstrate the proposed method.
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