Grapping mechanism and method for spatial targets

Abstract

The invention provides a grapping mechanism and method for spatial targets. A clamp-type three-finger structure is utilized to ensure that the mechanism is as small as possible under the premise that the structure can bear loads with different kinds of specifications and sufficient strength and suitable for multiple targets. The grapping mechanism is simple in structure, easy in machining and low in manufacture cost. The grapping mechanism and method for spatial targets have following beneficial effects: the grapping mechanism for spatial targets comprises a three-finger gripper and a driving mechanism used for driving the gripper to close and open; the gripper is in the three-finger structure in which three fingers are symmetrically distributed in the form of 2 to 1 on the center surface of the grapping mechanism; the connecting lines among the central points of the sections of the fingers form an equilateral triangle so that grapping force and moment balance of the spatial targets are ensured to the maximum extent.

Description

[0001] 【Technical field】 [0002] The invention relates to a space robot used in the aerospace field, in particular to a space target capture structure and method. [0003] 【Background technique】 [0004] In the field of aerospace, space robots play an increasingly important role in space missions. The use of space robots to perform on-orbit services such as space equipment maintenance, module replacement, refueling, and space debris removal is a future development trend. Since the on-orbit service needs to be based on capturing the service object, the capture mechanism is an important part of the space robot performing the on-orbit service task. [0005] The design of the arresting mechanism needs to match the characteristics of the captured target. In space, the target can be roughly divided into two categories. The first category is the target that is designed with a special captured mechanism. This type of target is generally a cooperative target; The second category is t...

AI Technical Summary

Problems solved by technology

[0009] 1. The applicability of the existing space capture mechanism is not strong

[0010] The existing capture mechanism can only capture one type of capture part, but with the development of space on-orbit service technology, the diversification of service objects requires the service-type capture mechanism to have the ability to adapt to multiple targets, so improving The applicability of arresting agencies is necessary

[0011] 2. The enveloping range of the arresting agency is too small

Secondly, the envelope range is small, resulting in poor fault tolerance and extremely high requirements for control accuracy

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