1 research outputs found
Development of the Chinese Intelligent Space Robotic System.
This paper gives an overview of the Chinese
Intelligent Space Robotic System. The system consists of a 6
DOF robot arm, a large-error tolerated gripper with two
stereo cameras and onboard computer. The robot arm is
composed of six identical modular joints, a big central hole in
the modular joint was designed for the placement of the cables
and plugs in the robot arm, which prevented them from
damage of high temperature, radiation in the space
environment and the motion of the robot. Joint torque sensor,
joint position sensor and temperature sensors etc.. were
integrated into the fully modular multi-sensory joint, which
made the joint more intelligent. Also, a large-error tolerated
gripper with two stereo cameras has been also designed to
capture a micro target satellite(MTS). A fault-tolerant
onboard computer(OBC) with dual processing modules has
been developed for the robot control. A zero gravity
experimental system was developed to verify the functions of
the robot arm under zero gravity environment