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An omnidirectional active friction end effector for space target manipulation

A technology for end effectors and space targets, applied in the direction of manufacturing tools, chucks, manipulators, etc., can solve problems such as equipment damage and capture task failure, and achieve the effect of high capture efficiency and intelligent capture scheme

Active Publication Date: 2021-08-10
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 omnidirectional active friction end effector for space target manipulation
  • An omnidirectional active friction end effector for space target manipulation
  • An omnidirectional active friction end effector for space target manipulation

Examples

Experimental program
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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] Such as 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 fixedl...

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Abstract

The invention discloses an omnidirectional active friction end effector for space target manipulation, which comprises a friction ball, a friction ball power device, a friction ball constraint device and a linear module clutch device. The friction ball power device is used to provide omnidirectional rolling power for 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 carried below 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 is in contact with the captured object After the surface of the captured object is in full contact, 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; Motion control of contact objects.

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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Patent Type & Authority Patents(China)
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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