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Omni-directional active friction end effector for space target control

An end-effector, space target technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve problems such as failure of capture tasks and equipment damage, and achieve the effect of intelligent capture plan and high capture efficiency

Active Publication Date: 2019-04-05
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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  • 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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  • Omni-directional active friction end effector for space target control
  • Omni-directional active friction end effector for space target control
  • Omni-directional active friction end effector for space target control

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Embodiment Construction

[0032] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] The present invention provides an omnidirectional active friction end effector for space target manipulation. The end effector is used as the end effector of a space capture manipulator, which can effectively solve the spin motion passive derotation capture of non-cooperative targets. question.

[0034] like figure 1 As shown, the omnidirectional active friction end effector includes a friction ball 9, a friction ball power device, a friction ball restraint device and a linear module clutch device; wherein:

[0035] The friction ball power device is used to provide the omnidirectional rolling power of the friction ball 9;

[0036] The friction ball restraint device provides omnidirectional restraint for the friction ball 9 in the free space, and limits the rotation of the friction ball 9 within a certain space range; it is fixedly c...

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Abstract

The invention discloses an omni-directional active friction end effector for space target control. The omni-directional active friction end effector for space target control 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 for providing omni-directional rolling power for the frictionball; the friction ball restraint device provides omni-directional restraint for the friction ball in free space, and is fixedly connected to the tail end of a space target control mechanism, and thefriction ball is driven to move under the drive of space target control mechanism; 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 a catching object so that the friction ball makes contact with the surface of the catching object and follows to rotate passively; when the friction ball is in fullcontact with the surface of the catching object, the friction ball power device is controlled to make contact with the friction ball so that the friction ball moves under the action of the omni-direction rolling power; and the friction ball realizes motion control over a contact object through a frictional force generated by contacting with the catching object on the contact surface.

Description

technical field [0001] The invention relates to a spacecraft space grasping end effector based on the full-degree-of-freedom active friction principle of an omnidirectional wheel, 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 upgra...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/10
CPCB25J15/0004B25J15/0033B25J15/009B25J15/103
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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