Optimization Design and Experimental Study of Space High-precision Gripper

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