Space debris large envelope capturing system with mechanical arms capable of being ejected out

A space debris and capture system technology, applied in the aerospace field, can solve the problems of increased system control difficulty, difficult system dynamics control, complex flexible dynamics, etc., to achieve excellent capture effect, strong inclusiveness, and easy control. Effect

Active Publication Date: 2017-02-22
NORTHWESTERN POLYTECHNICAL UNIV
6 Cites 17 Cited by

AI-Extracted Technical Summary

Problems solved by technology

However, due to the complexity of flexible dynamics, the difficulty of controlling the system after capture will be greatly increased.
[0005] To sum up, the control theory of rigid capture is relatively mature, but the traditional manipulator has strict restrict...
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Abstract

The invention discloses a space debris large envelope capturing system with mechanical arms capable of being ejected out. The capturing system comprises a six-side cubic satellite body; solar panels are installed on the satellite body; buffer cushion surfaces are installed on the four sides, connected in sequence, of the satellite body; each buffer cushion surface comprises an air cushion and a force sensor arranged in the air cushion; the rigid-soft spliced mechanical arms are installed on the portions, at the two sides of the buffer cushion surfaces, of the satellite body; the force sensors are connected with the two rigid-soft spliced mechanical arms through ejection devices correspondingly; and each rigid-soft spliced mechanical arm comprises a soft part and a rigid claw, wherein the soft part is connected with the corresponding ejection device, and the rigid claw is connected to the front end of the corresponding soft part. According to the space debris large envelope capturing system with the mechanical arms capable of being ejected out, impact of fast moving debris can be borne, inclusivity of the soft parts of the rigid-soft spliced mechanical arms on sizes and shapes of the debris is higher, the rigid claws are easy to control, advantages of both rigid capturing and soft capturing are achieved, and the capturing effect is excellent.

Application Domain

Cosmonautic power supply systemsArtificial satellites +1

Technology Topic

CushionBody type +4

Image

  • Space debris large envelope capturing system with mechanical arms capable of being ejected out
  • Space debris large envelope capturing system with mechanical arms capable of being ejected out
  • Space debris large envelope capturing system with mechanical arms capable of being ejected out

Examples

  • Experimental program(1)

Example Embodiment

[0021] The present invention will be further described in detail below in conjunction with the drawings.
[0022] See Figure 1-5 The large-envelope capture system for space debris that can be ejected by the mechanical arm of the present invention includes a six-sided cube-shaped satellite body 1 in structure. The satellite body 1 is equipped with solar panels 4, and the solar panels 4 are provided with four and uniform Distributed around the satellite body 1, the solar windsurfing board 4 includes a telescopic support pole 10 connected to the satellite body 1 and a solar opening and closing windsurfing board mounted on the top of the telescopic support pole 10. The solar opening and closing windsurfing board can be retracted around the The two sub-boards rotating at the top of the support rod 10 are combined. Before deployment, the two sub-boards of the solar opening and closing sailboard 11-A overlap the top of the retractable support rod 10, and the solar opening and closing sailboard 11-B is unfolded. The two sub-boards are rotated and assembled into a circle.
[0023] The four successively connected surfaces of the satellite main body 1 are provided with cushioning air cushion surfaces 3. The cushioning air cushion surface 3 includes several air cushions 6 arranged in a checkerboard array. Each air cushion 6 is provided with a force sensor 5, and each air cushion 6 is provided below. With an air inlet, all the force sensors 5 are connected in series. A rigid-flexible splicing robot arm 2 is provided on the satellite body 1 on both sides of the cushion air cushion surface 3. The force sensor 5 is respectively connected to two rigid-flexible splicing robot arms 2 through a pop-up device 7. The rigid-flexible splicing robot arm 2 includes a pop-up device 7 The connected flexible part 8 and the rigid grip 9 connected to the front end of the flexible part 8 are the flexible part 8 being a corrugated pipe, and the rigid grip 9 is connected to the corrugated pipe through a rigid rod. The satellite body 1 of the present invention is a general-purpose satellite platform, including an attitude orbit control system, a power supply system, and payload required for on-orbit operation. The flexible part 8 of the rigid-flexible splicing mechanical arm 2 is used for stretching and enveloping, and the rigid rod and rigid gripper 9 are used for capturing and fixing the target.
[0024] The working process of the present invention is: the space debris in motion is approached after the target is found, the air cushion surface 3 on the satellite body 1 contacts the space debris, any one of the four air cushion surfaces 3 hits the debris, and the force sensor 5 In response, the rigid-flexible splicing mechanical arms 2 on the remaining two surfaces are stretched and enveloped, and the space debris is fixed by the rigid claw 9 for overall control.
[0025] The present invention targets the space debris in motion, and the shape of the space debris can be irregular, large, or have a certain moving speed. The invention can withstand the impact of fast-moving fragments, and the rigid-flexible splicing mechanical arm 2 includes a flexible part 8 connected with the ejection device 7 and a rigid grip 9 connected to the front end of the flexible part 8. The flexible part 8 is more tolerant to the size and shape of the fragments, and it is easier to control when combined with a rigid gripper, and has the advantages of rigid catching and flexible catching.
[0026] The above are only the preferred embodiments of the present invention and do not limit the present invention in any form. Although the present invention has been disclosed in the preferred embodiments, it is not intended to limit the present invention. Anyone familiar with the profession Those skilled in the art, without departing from the scope of the technical solution of the present invention, can use the methods and technical content disclosed above to make slight changes or modifications to equivalent embodiments with equivalent changes, but any content that does not depart from the technical solution of the present invention Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solutions of the present invention.

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