宇航学报

宇航学报 ›› 2016, Vol. 37 ›› Issue (8): 1015-1022.doi: 10.3873/j.issn.1000-1328.2016.08.015

• 材料、结构与制造 • 上一篇    下一篇

空间机械臂关节快换接口结构设计与分析

史士财，何阳，李荣，刘宏   

  1. 1. 哈尔滨工业大学机器人技术与系统国家重点实验室，哈尔滨 150001；2. 黑龙江工程学院汽车系，哈尔滨 150050
  • 收稿日期:2015-12-22 修回日期:2016-04-12 出版日期:2016-08-15 发布日期:2016-08-25
  • 基金资助:

    国家基础研究发展规划资助项目（973-2013CB733103）；汽车运用与智能交通技术实验室开放基金（QCKF-12-02, QCKF-12-04）;黑龙江省博士后科研启动金（LBH-Q13067）

Mechanical Design and Analysis of Joint Quick Exchange Interface for Space Manipulator

SHI Shi cai, HE Yang, LI Rong, LIU Hong   

  1. 1. National Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;
     2. Department of Automobile, Heilongjiang Institute of Technology, Harbin 150050, China
  • Received:2015-12-22 Revised:2016-04-12 Online:2016-08-15 Published:2016-08-25

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摘要：

针对宇航员在轨出舱维护需求，提出一种机械锁紧与电气连接独立操作的快换接口，该快换接口具有在空间环境下拆装快速、拆装操作力小的特点，同时满足机械臂的刚度与承载能力。该接口由容差对接接口本体、机械连接锁紧装置、电连接器组件、电连接器插拔装置四个功能模块组成。采用双圆锥面配合设计容差对接凸凹本体结构。根据宇航员舱外操作的需求选择了具有平面浮动能力的快换接口电连接器，设计浮动装置使得该电连接器具有超行程量。采用曲柄滑块结构将操作工具的旋转运动转化为电连接器的直线运动，并基于驱动力矩最小确定曲柄滑块的参数。采用膨胀锁紧原理设计快换接口结构连接锁定装置，分析预紧力衰减对连接刚度的影响。

关键词: 空间机器人, 机械接口, 电气接口, 容差对接, 膨胀锁紧

Abstract:

According to the requirements of astronaut extravehicular activities, a general design scheme of joint quick exchange interface with features of easy replacement and small driving force, in which mechanical interface and electrical interface are actuated independently and separately, is put forward, while ensuring the rigidity and load capacity of the space manipulator at the same time. The quick exchange interface consists of four functional modules in total including tolerance docking mechanism, mechanical connection/locking device, electrical connectors and push-pull mechanism of electrical connector. A pair of male/female tolerance docking mechanism based on dual-cone fit is designed. According to the requirements of astronaut extravehicular operations, an electrical connector with planar floating feature is selected and a floating device is designed to make the electrical connector with over-travel. A slider-crank mechanism is designed to convert the rotary motion of the operation tool to the linear motion of the electrical connector. The parameters of the slider-crank mechanism are set based on the target of the smallest driving torque. Based on the expandable fastener, a mechanical connection/locking device is designed. Analysis of the impacts of decrease in preload on connection stiffness of the quick exchange interfaces is achieved.

Key words: Space robot, Mechanical interface, Electrical interface, Tolerance docking mechanism, Expandable fastener

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