A multi-finger mechanism-based method for capturing the envelope of tumbling targets in 3D space

A three-dimensional space and target technology, applied in the aerospace field, can solve the problems of complex rotational motion, lack of, and loss of attitude adjustment capabilities, and achieve good compatibility, improve computing efficiency, and simplify the system's degree of freedom

Active Publication Date: 2021-12-03
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most space debris are non-cooperative targets. Since the target has lost the ability to adjust its attitude and has been operating in an out-of-control state for a long time, it is often affected by perturbing moments such as solar light pressure, gravity gradient, and its own residual angular momentum before failure. Complex rotational motions often occur , and eventually tends to roll freely, making it extremely challenging to capture
In addition, usually this type of target does not have an excuse for capturing connections and cooperative measuring devices, etc., which undoubtedly further increases the difficulty of space tumbling targets

Method used

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  • A multi-finger mechanism-based method for capturing the envelope of tumbling targets in 3D space
  • A multi-finger mechanism-based method for capturing the envelope of tumbling targets in 3D space
  • A multi-finger mechanism-based method for capturing the envelope of tumbling targets in 3D space

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Experimental program
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Embodiment

[0052] A three-dimensional space tumbling target envelope capture method based on a multi-finger mechanism, the specific steps of which include:

[0053] S100, establishing a structural description model of the multi-finger mechanism.

[0054] First, determine the relative positions between the base joints of each finger 4 of the multi-finger mechanism. Such as figure 1 As shown, the multi-finger mechanism is connected with the service satellite through the mechanical arm 2. The multi-finger mechanism is composed of a palm 3 and n fingers 4, wherein each finger 4 is also composed of m connecting rods 6 and m single-degree-of-freedom rotary joints 5. Constrained by the mechanism of the multi-finger mechanism, the base joint finger position P of the i-th finger 4 b_i and the base joint finger position P of the jth finger 4 b_j satisfy the following relationship:

[0055] P b_j =P b_i +δ ij (j≠i,i≤n,j≤n) (3)

[0056] Among them, δ ij is the base joint finger position P ...

example

[0116] The present invention takes figure 1 Envelopment using 4-finger and 3-joint multi-finger mechanism shown Figure 4 The object in is specific embodiment, and the present invention is further described:

[0117] Suppose the length of each connecting rod 6 is d l =0.25m, the value range of joint angle is θ i ∈[-90°,90°]; the initial value of all joint angles of the multi-finger mechanism is θ i = 0°; the number of the main finger is 1; the positional relationship between the base joints of the multi-finger mechanism is as follows Image 6 shown. The length, width and height of the tumbling target in three-dimensional space are 1.2m, 0.6m and 0.4m respectively; the orbital radius is 7100km. initial time t 0 =0s, the coordinates of the envelope point are [0,-0.225,-0.31] T m; the coordinates of the base joint of the main finger is P b_l =[0.5,-0.5,0.5] T m; the relative position vector is ρ ij (t 0 )=[-9,16,18] T m; Further, let T=0.1s; N c =20;N p =20; u ...

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Abstract

The invention discloses a three-dimensional space tumbling target envelope capture method based on a multi-finger mechanism, including: S100, according to the relative positional relationship between the base joints of each finger 4 of the multi-finger mechanism and the configuration of each finger 4 itself Describe, establish the structural description model of the multi-finger mechanism, S200, deduce the effective envelope of the multi-finger mechanism according to the conditions that should be satisfied between the multi-finger mechanism and the three-dimensional space tumbling target when the multi-finger mechanism can constrain the movement of the three-dimensional space tumbling target Conditions; S300, according to the multi-finger mechanism envelope algorithm, find an effective multi-finger mechanism configuration satisfying the envelope condition. This method does not require capture points, does not require accurate target information, has better compatibility with the target geometry, and can realize the target motion constraints only through simple position control when capturing space tumbling targets. The advantages.

Description

technical field [0001] The invention belongs to the field of aerospace, and relates to a capture scheme for a three-dimensional space rolling target, in particular to a three-dimensional space rolling target envelope capture method based on a multi-finger mechanism. Background technique [0002] With the continuous exploration and utilization of space resources by human beings, a large amount of space junk caused by various reasons such as malfunctioning satellites, various explosions, and debris not only occupies precious orbital resources, but also affects the normal operation of spacecraft in orbit. Security poses a serious threat. Most space debris are non-cooperative targets. Since the target has lost the ability to adjust its attitude and has been running out of control for a long time, it is often affected by perturbing moments such as solar light pressure, gravity gradient, and its own residual angular momentum before failure. Complicated rotational motion often occu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B64G4/00
CPCB25J9/1612B64G4/00B64G2004/005
Inventor 孙冲万文娅袁源宋金丰宋硕张震
Owner NORTHWESTERN POLYTECHNICAL UNIV
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