Abstract
It is common to use space arm for maintaining and assembling. The major technology problems to solve first are the deformability, the soft and tightening contact with the target. Use ER as the contactor of end effector which is learned from the space station end effector can overcome many problems, as the poor location precision and uncontainable attitude which is bring by the big space arm. The design of multi-DOF Deformable-Contact-Surface-Based shape adaptive end effector is introduced in this text. The simulation result by Matlab software proves the design not only can tight connect the target, but also can suppress vibration and meet the precise demand of location, precise force control and deformability. It can meet the multi-mission in the future.
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