A triangular prism expandable truss space manipulator based on scissor mechanism

Abstract

The invention provides a triangular prism unfoldable truss type space manipulator based on scissor fork mechanisms. The space manipulator comprises a plurality of manipulator grippers, wherein the manipulator grippers comprise several metamorphic units, each metamorphic unit comprises two identical scissor fork rods and two identical upper connecting rods; the two scissor fork rods of one metamorphic unit are mutually connected through a rotating pair R1 to form one scissor fork mechanism; the bottom ends of the two upper connecting rods of one metamorphic unit are connected to the top ends ofthe two corresponding scissor fork rods through rotating pairs R2 correspondingly; the adjacent metamorphic units are connected through follow-up branch mechanisms, each follow-up branch mechanism comprises two follow-up rods, the two follow-up rods of each follow-up branch mechanism are mutually connected through a follow-up joint, and the two follow-up rods of one follow-up branch mechanism areconnected to the top ends of the corresponding upper connecting rods through rotating pairs R3 correspondingly; and when the axes of the two rotating pairs R2 of each metamorphic unit are collinear,the corresponding upper connecting rods are overturned relative to the plane where the corresponding scissor fork rods are located. The space manipulator is relatively high in rigidity and flexibility, and is relatively large in unfolding dimension so as to complete capturing of a large-scale space non-cooperative target.

Description

technical field [0001] The invention relates to a triangular prism deployable truss type space manipulator based on a scissor mechanism. Background technique [0002] The space manipulator has integrated space perception, maneuvering and operation capabilities, and completes the on-orbit assembly, pollution cleaning, observation and inspection, replacement of faulty modules, on-orbit refueling, Consumable load replacement and replenishment, orbit cleaning, orbit transfer and other work are the core equipment for spacecraft on-orbit assembly and maintenance. [0003] Both Canadian SRMS and SSRMS are typical traditional articulated manipulators. This kind of manipulator captures different types of targets by installing different end effectors at the end. The manipulator can be folded in the launch state and unfolded after lift-off. [0004] In 2014, NASA proposed two new capture structures for the asteroid redirection mission ARM. The capture device A design features include ...

AI Technical Summary

Problems solved by technology

[0006] Most of the traditional space manipulators are articulated, but the mass of the articulated manipulator is large, and 90% of the mass of the manipulator is concentrated in the joints, and the rigidity is poor when capturing, so it can only be captured by the end effector. The arm can't touch the target, so the target captured by the manipulator is severely limited, basically it can only be a cooperative target, and the small scale, small mass, and small inertia cannot complete the envelope capture of the target; secondly, the traditional articulated manipulator needs precise control scheme and motion planning

[0007] The capture mechanism proposed by NASA based on the asteroid redirection mission ARM solves some of the problems, but the rigidity of the structure is still insufficient

The structure of the rope-driven light-weight manipulator adopts the rope-driven type, so the accuracy of capture is not accurate enough

Images