The invention discloses a capture tolerance capacity testing
system and method of a three-jaw type space end
effector in a microgravity environment, and relates to a target interface capture tolerance capacity testing
system and method of a three-jaw type space
manipulator end
effector in the microgravity environment. The problems that an existing microgravity platform
verification system is complex, poor in safety and reliability and not capable of achieving six-degree-of-freedom motion of a mechanical arm or a
spacecraft in the three-dimensional space of the microgravity environment can be solved. The capture tolerance capacity testing system comprises a capture subsystem, a target subsystem and a measurement subsystem. The capture tolerance capacity testing method includes the steps that first, the capture tolerance capacity testing system is mounted; second, the original position and the coordinate axis of a coordinate system of the space end
effector are determined; third, the
pose of the three-jaw type space end effector is determined; fourth, the
pose of a target to be captured is determined; fifth, the
pose deviation of the target to be captured relative to the space end effector is acquired; sixth, a capture test is carried out under different pose deviations. The capture tolerance capacity testing system and method of the three-jaw type space end effector in the microgravity environment belong to the field of space robots or
spacecraft ground
verification systems.