Under-actuated space capturing mechanism and method

A capture mechanism and underactuated technology, applied in the aerospace field, can solve the problems of difficult to achieve non-cooperative target capture, high requirements for capture control accuracy, and achieve good reusable performance, good shape and size applicability, and wide range. catch effect

Active Publication Date: 2017-09-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The common feature of these two capture mechanisms is that they are compact and convenient, but they can only capture targets such

Method used

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  • Under-actuated space capturing mechanism and method
  • Under-actuated space capturing mechanism and method
  • Under-actuated space capturing mechanism and method

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0051] Example 1

[0052] See Figure 8 When the mechanism captures a small cube of 400*400*400mm, when it is close to the target and close to each other, the two motors 12 perpendicular to each other in the spherical hinge operate, and the drive motor in the second adhesive plate 5 does not operate, so the first adhesive plate 4 The second adhesive plate 5 and the third adhesive plate 6 are a whole. The motor 12 in the spherical hinge 1 drives the first adhesive plate 4 to close and rotate through the first worm 2. When the adhesive plate is close to the target body and adhered, the movement stops. Immediately carry out cleaning tasks or other.

Example Embodiment

[0053] Example 2

[0054] See Picture 9 When the mechanism captures a large cube 800*800*800mm, when it is close to the target and close to the target, the motor 12 in the spherical hinge 1 does not operate, and the driving motor in the second adhesive plate 5 operates. At this time, the first adhesive plate 4 and the spherical hinge 1 , The first worm 2 is a whole, when the second adhesive plate 5 closes and rotates and contacts the target, it first adheres through the adhesive layer on it, and because of the pressure and impact force, the third adhesive plate 6 is under-actuated to adhere The plate is closed and rotated. When the under-actuated adhesive plate adheres to the target body, the movement stops, and random cleaning tasks or other tasks are performed.

[0055] The vertically aligned CNT array prepared by chemical vapor deposition (CVD) has a controllable structure, excellent compression resistance and adhesion performance. The micron-level carbon nanotube bundles and n...

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Abstract

The invention discloses an under-actuated space capturing mechanism and method. The mechanism comprises a ball-shaped hinge and four branched mechanism bodies; each branched mechanism body is connected with the ball-shaped hinge through a first worm, and the four branched mechanism bodies are arranged at intervals; two motors are perpendicularly arranged in the ball-shaped hinge, and the first worms are sleeved with the motors; and each motor is used for driving the two corresponding branched mechanism bodies located on the same line, and an adhesion plate is arranged on each branched mechanism body and used for capturing. According to the size of a target, the motor in the ball-shaped hinge and the motor in the second adhesion plates are selected to conduct driving, and whole capturing is completed; the motors are started or stopped according to requirements, and energy is saved; and in capturing, aiming at target bodies of different types and sizes, the motor in the ball-shaped hinge and the motor in the second adhesion plates are started or stopped correspondingly, the energy is saved, reinforcement of the endurance capacity is facilitated, the complex requirements for controlling in the original capturing process are reduced, and the whole method is simple and easy to implement and control.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and in particular relates to an underactuated space capture mechanism and a capture method. Background technique [0002] 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. [0003] 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 i...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J9/16B64G4/00
CPCB25J9/08B25J9/1679B64G4/00
Inventor 温瑞成方群李天纲
Owner NORTHWESTERN POLYTECHNICAL UNIV
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