Under-actuated space capturing mechanism and method

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...

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 as nozzles, and they require extremely high capture control accuracy, making it almost difficult to capture non-cooperative targets.

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