Adaptive under-actuated non-cooperative target space capturing mechanism

Abstract

The invention discloses an adaptive under-actuated non-cooperative target capturing mechanism. An existing capturing mechanism is poor in adaptation of the size and shape of a target. A nut driving plate and a stretching platform form a helical pair with a first thread and a second thread of a variable pitch screw respectively; the nut driving plate is provided with an armature, and the stretchingplatform is provided with an armature and a travel switch; a mechanical arm driving plate is connected with the nut driving plate through a flexible connecting part; three five-rod type mechanical arm bodies are uniformly distributed in the circumferential direction and connected to the mechanical arm driving plate; a third connecting rod in each five-rod type mechanical arm body can cooperate with a torsional spring to be converted to be an under-actuated mechanism; mechanical arm tail end execution mechanisms are connected to the three five-rod type type mechanical arm bodies; a buffer guide mechanism is located in the center of the circumference where the three five-rod type type mechanical arm bodies are uniformly distributed. Accordingly, a single power source is adopted for achieving unfolding of three mechanical arms, the mechanism has the multi-degree of freedom and can flexibly adapt to target satellite spray pipes with different sizes and shapes.

Description

technical field [0001] The invention relates to a space capture mechanism, in particular to an adaptive under-actuated non-cooperative target space capture mechanism. Background technique [0002] The application of space docking and capture technology in the aerospace field continues to expand. The characteristic of non-cooperative target space docking capture technology is that the capture target is non-cooperative, and the relevant parameters required for docking are unknown, which makes its related technology very difficult. [0003] The currently used docking capture mechanisms are all single-degree-of-freedom mechanisms, and their operating trajectories are relatively fixed, and their adaptability to the capture target is not strong, which may easily cause capture failure. Therefore, an adaptive underactuated non-cooperative target space acquisition mechanism is proposed. Contents of the invention [0004] The object of the present invention is to provide an adapti...

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