A Scissor Bending Metamorphic Mechanism Manipulator

Abstract

The invention discloses a shearing fork bending metamorphic mechanism type manipulator. Each manipulator claw comprises a plurality of metamorphic mechanism units which are connected in series, wherein each metamorphic mechanism unit comprises a plurality of secondary metamorphic mechanism units which are connected in parallel; and each secondary metamorphic mechanism unit comprises a shearing fork mechanism and an aberrant shearing fork mechanism. The shearing fork bending metamorphic mechanism type manipulator comprises a truss rod. Compared with a traditional joint type manipulator, the shearing fork bending metamorphic mechanism type manipulator has the advantages that the mass is light; the structure rigidity is high; the folding size is small; the folding and unfolding ratio is high;the conveying size is saved; the plane structure is simple; the degree of freedom is small; the driving is simple; the manipulator claws can move in a wide range with little driving; in addition, themanipulator claws are linearly unfolded and are capable of bending and grabbing after unfolding in place, so that a target can be widely enveloped and grabbed, and as a result, the unfolding spaces of the manipulator claws can be saved; and interference between the manipulator claw and the grabbing target can be avoided, and thus a target object can be conveniently grabbed.

Description

technical field [0001] The invention relates to the technical field of space object capture manipulators, in particular to a scissors bending metamorphic mechanism manipulator. Background technique [0002] There are a large number of objects such as rocket bodies, satellite bodies, and aircraft debris left in space. These objects have great uncertainty in the orbit of space and pose a great threat to active satellites and astronauts. With the advancement of aviation technology, humans have also begun to carry out work such as satellite recovery and asteroid capture, all of which require the use of space capture robots. Due to the limited capacity and volume of the rocket, the space capture manipulator needs to have a larger expansion and contraction ratio to achieve a smaller folding volume, and the space capture manipulator needs to have fewer degrees of freedom, so that through less The drive can make the space capture manipulator realize a large range of motion. [000...

AI Technical Summary

Problems solved by technology

The articulated manipulator has a large mass and a small unfolded volume. The capture target can only be a cooperative target, and its capture scale is small, so it cannot complete the envelope capture of the target. In addition, it generally has multiple degrees of freedom and requires precise Control schemes and motion planning

[0004] In addition, the design mode of the traditional space capture manipulator is relatively simple. Although it can meet the characteristics of small folding volume, its unfolding process and the process of grasping objects are often carried out at the same time. In this way, not only part of the stretching space will be wasted, but the space capture There may also be interference problems between the manipulator and the capture target

[0005] Therefore, it is a problem to be solved to design a space capture manipulator with large folding ratio, less degrees of freedom, simple and reliable structure, and capable of grasping large-scale targets.

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