Experimental Platform of Space Robot Grasping Various Nonprehensile Targets | |
Liu JG(刘金国)2; Feng JK(冯靖凯)1,2; Zhang X(张鑫)1,2 | |
2018 | |
会议日期 | June 20-21, 2018 |
会议地点 | Munchen, Germany |
页码 | 70-76 |
英文摘要 | Active debris removal is regarded as a necessary mission for protecting space environment in the long-term. For simulating free-flying space robots to grasp space targets, a novel experimental platform is developed in the laboratory condition. Its main superiority reflects in its simplicity, extendibility and modular design. And the three subsystems of the platform: the structure system, pneumatic system, and electronic system are introduced in detail. According to the current literature, we found the definition of the non-cooperative targets is not precise enough. Thus, a subdivision of noncooperative targets into prehensile and non-prehensile targets is proposed, where the non-prehensile target means the target does not have prehensile handles and cannot be grasped by mechanical grippers. Based on the caging-based grasping method, several caging-based end-effectors are fabricated to grasp non-prehensile targets. And the corresponding caging experiments are conducted to verify the feasibility and effectiveness of the proposed method. |
产权排序 | 1 |
会议录 | ISR 2018 - 50th International Symposium on Robotics |
会议录出版者 | VDE VERLAG GMBH |
会议录出版地 | Berlin |
语种 | 英语 |
ISBN号 | 978-3-8007-4699-6 |
内容类型 | 会议论文 |
源URL | [http://ir.sia.cn/handle/173321/23795] |
专题 | 沈阳自动化研究所_空间自动化技术研究室 |
通讯作者 | Liu JG(刘金国) |
作者单位 | 1.University of Chinese Academy of Sciences, 100049, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, Shenyang |
推荐引用方式 GB/T 7714 | Liu JG,Feng JK,Zhang X. Experimental Platform of Space Robot Grasping Various Nonprehensile Targets[C]. 见:. Munchen, Germany. June 20-21, 2018. |
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