【摘要】 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。更多还原

【Abstract】 In order to solve the contradiction between the need of high precision,fine operation and visual error,motion error of the manipulator in the disassembly of screw in on-obit servicing,a screw disassembly tool with tolerance capacity is designed,and a prototype is developed.The disassembly of a screw involves the contact and collision between the rigid bodies.To ensure a reliable and smooth completion of the task,the research was conducted on the control strategy of the manipulator with the tool,and the ground experiment platform was constructed to verify its effect.The result indicates that the designed tool can accomplish the screw disassembly task smoothly.更多还原