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Spatial manipulator structure capable of stably grabbing

A space manipulator, stable technology, applied in manipulators, motor vehicles, space navigation equipment and other directions, can solve the problem of not having a good structural solution, and achieve the effect of compact structure, reliable function and regular arrangement

Active Publication Date: 2015-07-01
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, at present, our country still does not have a good structural solution under the requirements of this task.

Method used

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  • Spatial manipulator structure capable of stably grabbing
  • Spatial manipulator structure capable of stably grabbing
  • Spatial manipulator structure capable of stably grabbing

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Experimental program
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Embodiment Construction

[0018] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0019] Such as figure 1 As shown, a space manipulator structure capable of stable capture includes two driving devices with the same structure, which are arranged at the first and last ends of the space manipulator structure, and a passive device; as figure 2 , image 3 As shown, the driving device includes a shaft end cover 101, a bearing end cover 102, a housing A103, a reversing bevel gear A104, a driving motor 105, an end connector 106, a rotary end 107, and a rotary magneto-rheological fluid damper A108, bearing A109, reversing bevel gear B110, bearing B111, transmission shaft 112, housing B113, clutch 114, speed reducer 115; the drive motor 105 is connected with the speed reducer 115 by bolts, and the speed reducer 115 is connected with the speed reducer 115 The clutch 114 is connected through a card slot, the output shaft of the clutch 114 is connec...

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Abstract

The invention relates to a spatial manipulator structure capable of stably grabbing. The spatial manipulator structure comprises two drive devices of the same structure and arranged at the front end and the tail end of a spatial manipulator respectively and a driven device. The driven device between the two drive devices contains a magnetorheological fluid damper structure capable of buffering the kinetic energy from the axial force and the radial force, and it can be effectively guaranteed that a target satellite is grabbed stably and precisely through the whole structure. The spatial manipulator structure has the advantages that the target satellite in the space can be grabbed stably and reliably on the dependence of the manipulator structure; after the target satellite is grabbed, negative energy brought by grabbing the target satellite can be buffered on the dependence of a magnetorheological fluid damper and spring damping, and a stable whole satellite base is guaranteed.

Description

technical field [0001] The invention relates to a structure of a space robot. To be precise, it provides a structure of a space manipulator that can rely on a magneto-rheological fluid damper inside the structure to buffer the collision momentum in the working condition after capturing the target star. Stability of space object star capture. Background technique [0002] The space manipulator is a highly integrated space electromechanical system integrating mechanics, electricity, heat and control. With the rapid development of my country's national economy and defense industry technology, the demand for spacecraft is increasing day by day, and the requirements for its capabilities are increasing day by day. Especially in the space environment with multiple working conditions and harsh conditions, the demand for space manipulator technology is becoming more and more urgent, and it also puts forward higher and higher requirements for its working ability, performance requirem...

Claims

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Application Information

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IPC IPC(8): B64G1/66B25J19/00
Inventor 董正宏王珏秦建军张树才杨帆
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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