This paper studies the design and analysis problem of a class of cable-driven mechanical gripper for complex object manipulations. More precisely, a new structure design of mechanical gripper with cable-driven mechanism is first proposed with details for effective object grasping. In addition, an effective method is developed to prevent overload of axial rotation torque of the gripper. Based on the designed gripper, the kinematic analysis is then carried out and the caging grasp analysis is shown.
This paper provides an improved signal summing method for the spacecraft force limited vibration test system with eight force transducers. The key point for this method is to change the combination way of the signals coming out of the eight force transducers while the formulas inside the signal conditioning amplifier have been used skillfully. This method had been successfully adopted in the spacecraft force limited vibration test and the accuracy requirements of key force and moment signals have been met. And this method has been proved to be a very powerful tool for providing the critical force and moment data used to determine the force limited profile during the spacecraft dynamic test.
There are different kinds of equipments distributed in different locations for a large complicated multi-shaker vibration test facility, so it is challenging to monitor the real state of test facility thoroughly during its operation. Long-term operation of this test facility will lead to the degradation of reliability and malfunction, and sometimes the emergency stop of the whole test system that threatens the safety of the spacecraft seriously. This paper presents in detail the design and application of a set of health monitoring device for a large multi-shaker vibration test facility which is capable of monitoring the operation state in real time and predicting the potential malfunction of the whole test facility to ensure the reliability of this large test system and safety of the spacecraft during its environmental vibration test.
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