Journal of Astronautics ›› 2016, Vol. 37 ›› Issue (8): 1015-1022.doi: 10.3873/j.issn.1000-1328.2016.08.015

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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

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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