面向在轨捕获的静电吸附式末端执行器设计理论与实验研究

项目名称： 面向在轨捕获的静电吸附式末端执行器设计理论与实验研究

项目编号： No.51505044

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 陈锐

作者单位： 重庆大学

项目金额： 20万元

中文摘要： 面向空间目标在轨捕获的巨大需求，针对当前常见的末端执行器在通用性、容差性以及灵活性上存在的不足，提出利用静电吸附力取代机械夹持力设计在轨捕获用末端执行器的新思路。综合运用理论分析、优化设计、实验研究等技术手段，从电介质的微观和宏观极化效应两个角度揭示高真空大温差环境下静电吸附的机理，结合点匹配法和麦克斯韦应力张量法建立包含高真空大温差环境影响因素的静电吸附理论模型，以模型为基础探索末端执行器吸附单元的性能优化方法，从拓扑构型和机构变形两个方面研究末端执行器与空间目标之间的表面自适应柔顺贴合机制。在理论研究的基础上，研制静电吸附式末端执行器样机并进行地面模拟捕获实验，测试并验证末端执行器完成表面自适应柔顺贴合后的吸附捕获性能，最终建立一套面向在轨捕获的静电吸附式末端执行器设计理论与实验方法，为我国空间机械臂的自主研发和在轨捕获技术的快速发展提供理论和技术支撑。

中文关键词： 末端执行器；静电吸附；在轨捕获；空间机械臂

英文摘要： There is a tremendous need for on-orbit capturing of space target. However, current end-effectors have deficiencies in versatility, misalignment tolerance and flexibility. Therefore, this project proposes a new idea to design the end-effector for on-orbit capturing by using the electrostatic adhesion force in place of the mechanical gripping force. By using a combination of means, such as theoretical analysis, optimization design, experimental studies and other technical means, we firstly attempt to reveal the mechanism of electrostatic adhesion under high vacuum and large temperature difference circumstances from the perspectives of microscopic and macroscopic polarization effect of the dielectrics. Then we establish a theoretical model of electrostatic adhesion considering the high vacuum and large temperature difference circumstances influence factors using the point matching method and the Maxwell stress tensor method. Based on the theoretical model, we attempt to explore a performance optimization method for the adhesion unit on the end-effector. In addition, we study the adaptive surface fitting mechanism between the end-effector and the space target from the two aspects of topology configuration and mechanism deformation. On the basis of the theoretical researches, we develop an electroadhesive end-effector prototype and conduct simulation capturing experiments with it on the ground, and the adhesive capturing performances of the end-effector prototype after adaptive and compliant surface fitting are tested and verified. Finally, a set of design theory and experimental methods of the electroadhesive end-effector for on-orbit capturing are established, which will provide the theoretical and technical support for independent research of the domestic space manipulator and rapid development of the on-orbit capturing technology.

英文关键词： end-effector;electrostatic adhesion;on-orbit capturing;space manipulator