Optimization Design and Experimental Study of Space High-precision Gripper

Abstract To meet the requirements of large tolerance, high precision, soft capture and high reliability of space gripper, a three finger end effector is developed. The gripper adopts a three fingered gripper configuration, which needs to be used together with the corresponding capture adapter. It is characterized by stable grip, high precision, large clamping force, large tolerance and strong correction ability. A 6-DOF microgravity equivalent device is innovatively designed, which adopts the combination of ball bearing and reverse counterweight. In this paper, a ground capture calibration platform is built to fully test the capture accuracy of the gripper. Considering the disturbance of capture load, carrying platform and other factors to capture, the capture stiffness of the gripper is tested and the capture stiffness curve is obtained. Both tests have verified the feasibility and effectiveness of the design.