Under-actuated space capturing device with self-adaptability

Abstract

The invention provides an under-actuated space capturing device with self-adaptability. One ends of a plurality of clamping heads are positioned outside a shell; the other ends of the plurality of clamping heads extend into the shell through a shell end surface opening and are hinged to one end of a telescopic rod; torsion springs are mounted at the hinging positions; the telescopic rod is drivento move in a reciprocating manner in the axial direction of the shell so as to drive the clamping heads to extend out or retract into the shell; when the clamping heads extend out of the shell, the clamping heads are opened outwards in the radial direction of the shell under the effect of the torsion springs; the clamping heads are extruded by the shell end surface opening when retracting into theshell, and the clamping heads are closed to capture a target; pressure sensors are mounted at the contacting parts of the clamping heads and the target to feed back and control motion of the telescopic rod. The under-actuated space capturing device with self-adaptability has the advantages that the structure is small, simple and convenient, the cost is low, the labor is saved, the service life islong, automatic centering is realized, the clamping is reliable, continuous capturing and releasing of multiple targets can be realized, clamping head components possess self-adaptability and wide interface applicability; and greater application values in space operation tasks such as repairing, auxiliary orbit insertion and deorbiting of a failed satellite are realized.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and in particular relates to a space capturing device. Background technique [0002] The exploration activities of human beings in outer space are gradually increasing, which brings benefits and also has a lasting and far-reaching impact on the space environment. The remaining rocket stages, failed satellites, spacecraft mission discards, spacecraft disintegration and collision derivatives in space A large number of space debris such as space debris have posed a huge threat to the development of human spaceflight. According to the US Space Surveillance Network, there are about 20,000-22,000 pieces of space debris larger than 10cm in size; 500,000 pieces of space debris larger than 1cm; and more than 100,000,000 pieces of space debris larger than 1mm. Classify space debris into small debris, large debris, and dangerous debris in between. [0003] Most space debris are non-cooperative targets....

AI Technical Summary

Problems solved by technology

[0008] At present, the precise control capability of the in-orbit service spacecraft is limited, and there is no actual precision operation of the robotic arm for non-cooperative / failure targets. The currently designed rigid capture mechanism for non-cooperative targets generally lacks a locking mechanism, poor connection stiffness, and reliable capture. Problems with poor performance and low versatility

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