A Modular Capture Manipulator Based on Motion Parametabolism

Abstract

The invention provides a modular capturing mechanical arm based on a motion pair metamorphism. The modular capturing mechanical arm based on the motion pair metamorphism includes a base and a plurality of mechanical arm jaws arranged on the base, wherein the mechanical arm jaws are installed on the base in a circular or relative mode, and the mechanical arm jaws includes N (N is greater than or equal to 2) folding units connected in turn; each folding unit includes two connecting seats, a shears-fork type capturing surface mechanism, four metamorphism mechanisms, and a driving mechanism, wherein each shears-fork type capturing surface mechanism is arranged between the two connecting seats, the metamorphism mechanisms are used for connecting the connecting seats and the capturing surface mechanisms; and the metamorphism mechanisms based on transformation between moving pairs and rotating pairs are formed. The modular capturing mechanical arm based on the motion pair metamorphism is simple in structure, light in weight, large in folding ratio, high in structural strength, and good in capturing performance, and is applicable to capturing of a space non-cooperative target.

Description

technical field [0001] The invention belongs to the technical field of space capture robots, and more specifically relates to a modular capture manipulator based on motion parametabolism. Background technique [0002] Space agency manipulation technology refers to the use of space platforms to operate specific on-orbit targets with or without the participation of people in space, such as space garbage collection, debris cleaning, space attack and defense, large-scale space observation, long-distance detection, Technologies for non-cooperative target tracking and acquisition, auxiliary orbit change, fault repair, assembly and construction, on-orbit rescue and other related operations. However, the existing space truss mechanism still has the following problems: although the space expandable mechanism can be deployed to achieve the purpose of constructing a large structure with a length of tens of meters or even hundreds of meters, it cannot be controlled on-orbit due to its l...

AI Technical Summary

Problems solved by technology

However, the existing space truss mechanism still has the following problems: although the space expandable mechanism can be deployed to achieve the purpose of constructing a large structure with a length of tens of meters or even hundreds of meters, it cannot be controlled on-orbit due to its low mobility; The variable geometry truss mechanism can achieve more mobility, but its drive is complicated; the rigid-flexible hybrid mechanism is difficult to achieve complex shape control; the modular spacecraft can obtain different configurations through module reorganization, but it does not have diverse possibilities. Manipulation of mobility, and the reconstruction process often requires an auxiliary robot to achieve

[0003] Chinese patent document 201410056414.6 discloses an expandable underactuated cable-bar truss gripper, which relates to a modular gripper that can be used to grab objects of different shapes in space to solve the traditional underactuated mechanism and the heavy weight of the SARAH gripper , complex structure, poor adaptability to the shape of the grasped target object, small grasping force, and difficult expansion of SARAH claws, which include front-end connection devices, inter-rod corner limit mechanisms, end-cable trusses, ropes, and more a positioning column and a plurality of expandable modular cable-strut trusses; The two support plates on the same side in the vertical direction are pierced with rope shafts, and the output shaft of the motor is vertically arranged and connected to the corresponding rope shaft; each of the expandable modular cable rod trusses includes two rope shafts , twelve friction damping metal sheets and six connecting rods

Because the manipulator in the prior art does not have the function of folding and unfolding, it takes up a lot of space and increases the difficulty of transportation; the parallelogram structure has poor stability and it is difficult to control the stiffness; and the driving part is complicated to control due to the use of servo motors, and the structure is heavy A separate structural design is required for the arrangement of the servo motor; and this technology does not take into account the lightweight design, resulting in a weak gripping force of the manipulator, and it is difficult to control the operation of large-mass objects

[0004] Based on this, the present invention proposes a modular capturing manipulator based on kinematic paramorphism, aiming to solve the problem of capturing large-mass non-cooperative targets in space

Images