title: ÐÐ½Ð¾Ð³Ð¾ÑÐµÐ»ÐµÐ²Ð¾Ðµ Ð·Ð°Ñ Ð²Ð°ÑÐ½Ð¾-ÑÑÑÐºÐ¾Ð²Ð¾ÑÐ½Ð¾Ðµ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð¾
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Multi-purpose grip-docking device
Creators: name: Ð Ð°ÐºÑÐ¸Ð½, ÐÐ³Ð¾Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: ÐÐµÑ Ð°ÑÑÐ¾Ð½Ð¸ÐºÐ°
Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
ÑÐ½Ð´-ÑÑÑÐµÐºÑÐ¾Ñ
ÑÑÑÐºÐ¾Ð²ÐºÐ°
ÑÐµÐ¾ÑÐ¸Ñ Ð¼Ð°ÑÐ¸Ð½
ÑÐµÐ¾ÑÐ¸Ñ Ð¼ÐµÑ Ð°Ð½Ð¸Ð·Ð¼Ð¾Ð²
end-effector
docking
theory of machines
theory of mechanisms

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description: The paper proposes a device that performs the capture and docking with the objects of the serviced Arctic equipment. The Gripping and Docking Device (hereinafter referred to as the GDD) is a hybrid solution from the space industry and industrial robotics, because small-sized docking joints are subject to high load-bearing capacity requirements.Â A method of docking is proposed, aimed at strengthening the connection when capturing large objects without changing the sizes of the manipulator. Bilateral docking is performed which has connection with the root hinge having 3 DOF additional to the coupling to the device with the manipulated object. The docking mechanism is designed according to the shear calculation that locks the counterpart. Thus, the mechanism itself is not loaded and it is a lightweight and small structure.Â The device is equipped with a gripper for manipulating non-cooperative objects. Several mobile platforms equipped with these docking adapters are expected to operate. Platforms operate without human presence on autonomous bases. In order to increase energy efficiency, all GDD units operate from a single drive.Â Calculations aimed at coordinating the operation of the cam mechanisms of the docking unit were carried out, the kinematics of the actuating units were determined. The dimensions of the structure have been optimized. A kinematic diagram, assembly and design drawings of the GDD were made. The intended areas of application of this device are extreme and industrial robotics, machine tool.