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An active friction end effector for two-dimensional space friction applications

An end effector and two-dimensional space technology, applied in the direction of manufacturing tools, chucks, manipulators, etc., can solve problems such as capture task failure and equipment damage, and achieve the effect of intelligent capture scheme and high capture efficiency

Active Publication Date: 2021-09-07
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Collisions may cause equipment damage, or even lead to capture mission failure

Method used

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  • An active friction end effector for two-dimensional space friction applications
  • An active friction end effector for two-dimensional space friction applications

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Embodiment Construction

[0031] The present invention provides an active friction end effector oriented to the application of two-dimensional space friction. The end effector is used as the end actuator of a space capture robot arm, which can effectively solve the problem of passive derotation capture of non-cooperative targets in spin motion. .

[0032] Such as figure 1 , figure 2 As shown, the active friction end effector for two-dimensional space friction application includes a friction ball 10, a friction ball power device, a friction ball restraint device and a linear modular clutch device; wherein:

[0033] The friction ball power device is used to provide the friction ball 10 with two-dimensional rolling power;

[0034] The friction ball restraint device provides omnidirectional restraint for the friction ball 10 in the free space, and limits the rotation of the friction ball 10 within a certain space range; it is fixedly connected to the end of the space target control mechanism through th...

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Abstract

The invention discloses an active friction end effector for two-dimensional space friction application, which comprises a friction ball, a friction ball power device, a friction ball restraint device and a linear module clutch device. The friction ball power device is used to provide the two-dimensional rolling power of the friction ball; the friction ball restraint device provides omnidirectional restraint for the friction ball in the free space, and is fixedly connected to the end of the space target control mechanism. The friction ball is driven to move, and the linear module clutch device controls the friction ball power device to separate from the friction ball when the friction ball is not in contact with the captured object, so that the friction ball is in contact with the surface of the captured object and passively follows the rotation; when the friction ball After fully contacting the surface of the captured object, the friction ball power device is controlled to contact the friction ball, so that the friction ball moves under the action of omnidirectional rolling power; the friction ball is realized by the friction force generated on the contact surface with the captured object Motion control of objects in contact.

Description

technical field [0001] The invention relates to a two-dimensional space-oriented spacecraft space grasping end effector based on the active friction principle of omnidirectional wheels, which belongs to the technical field of mechanical design. Background technique [0002] Spacecraft operating in space require various on-orbit services. Spacecraft that have expired and are over-age need to be cleared out of their orbits in time. The gripping stability and gripping efficiency of the actuator in the process of on-orbit servicing and cleaning determine the success or failure of the entire mission. [0003] With the development of aerospace technology, space docking develops from cooperative target docking to non-cooperative target docking. The use of non-cooperative target docking technology can realize the docking between any aircraft in space and expand the scope of space activities, such as space garbage cleaning, satellite recovery, fuel supply, parts replacement, system...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/10B25J15/12
CPCB25J15/0004B25J15/10B25J15/12
Inventor 李常刘嘉宇杜宝森李晓琪王昊
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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