Analysis of Capture Misalignment Envelope of an End-effector

Capture misalignment envelope of an end-effector determines the capture capability of space robot. The analysis is based on capture principle and four criterions for successful capture. It includes single dimension variable analysis. It specifies that the grapple fixture translates or rotates in a single direction after initial alignment. As for the non-coherent rotation of the capture feature spaces in Yaw and Pitch, the capture finger plane is used to intersect the rotation trajectory of the interface plate hemline and limit the boundary point in the plane. With the analysis, the simulation is performed and the result demonstrates that the capture misalignment envelope of the end-effector satisfies the requirements and can secure the on-orbit capture of the space robot arm.