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Robotic hand-arm system for on-orbit servicing missions in Tiangong-2 Space Laboratory

Robotic hand-arm system for on-orbit servicing missions in Tiangong-2 Space Laboratory The purpose of this study is to develop a robotic hand–arm system for on-orbit servicing missions at the Tiangong-2 (TG-2) Space Laboratory.Design/methodology/approachThe hand–arm system is mainly composed of a lightweight arm, a dexterous hand, an electrical cabinet, a global camera, a hand–eye camera and some human–machine interfaces. The 6-DOF lightweight arm and the 15-DOF dexterous hand adopt the modular design philosophy that greatly reduces the design cycle and cost. To reduce the computational burden on the central controller and simplify system maintenance, an electrical system which has a hierarchical structure is introduced.FindingsThe prototypical operating experiments completed in TG-2 space laboratory demonstrate the performance of the hand–arm system and lay foundations for the future applications of space manipulators.Originality/valueThe main contributions of this paper are as follows a robotic hand–arm system which can perform on-orbit servicing missions such as grasping the electric drill, screwing the bolt, unscrewing J599 electrical connector has been developed; a variable time step motion plan method is proposed to adjust the trajectories of the lightweight arm to reduce or eliminate the collision force; and a dexterous hand uses the coordinated grasp control based on the object Cartesian stiffness to realize stable grasp. To solve the kinematic mapping from the cyber glove commands to the dexterous hand, a fingertip-position-based method is proposed to acquire precise solutions. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Assembly Automation Emerald Publishing

Robotic hand-arm system for on-orbit servicing missions in Tiangong-2 Space Laboratory

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Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
0144-5154
DOI
10.1108/aa-02-2019-0022
Publisher site
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Abstract

The purpose of this study is to develop a robotic hand–arm system for on-orbit servicing missions at the Tiangong-2 (TG-2) Space Laboratory.Design/methodology/approachThe hand–arm system is mainly composed of a lightweight arm, a dexterous hand, an electrical cabinet, a global camera, a hand–eye camera and some human–machine interfaces. The 6-DOF lightweight arm and the 15-DOF dexterous hand adopt the modular design philosophy that greatly reduces the design cycle and cost. To reduce the computational burden on the central controller and simplify system maintenance, an electrical system which has a hierarchical structure is introduced.FindingsThe prototypical operating experiments completed in TG-2 space laboratory demonstrate the performance of the hand–arm system and lay foundations for the future applications of space manipulators.Originality/valueThe main contributions of this paper are as follows a robotic hand–arm system which can perform on-orbit servicing missions such as grasping the electric drill, screwing the bolt, unscrewing J599 electrical connector has been developed; a variable time step motion plan method is proposed to adjust the trajectories of the lightweight arm to reduce or eliminate the collision force; and a dexterous hand uses the coordinated grasp control based on the object Cartesian stiffness to realize stable grasp. To solve the kinematic mapping from the cyber glove commands to the dexterous hand, a fingertip-position-based method is proposed to acquire precise solutions.

Journal

Assembly Automation – Emerald Publishing

Published: Oct 18, 2019

Keywords: Robotic hand–arm system; Hierarchical structure; On-orbit servicing missions; Prototypical operating experiments; TG-2 Space Laboratory

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