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Multi-wheeled arm space robot facing large rolling target

A space robot and target technology, which is applied in the field of multi-wheel arm space robot and spacecraft space grasping end effector, can solve the problem of high fuel consumption, and achieve the effects of reducing energy consumption, stable capture, and easy realization

Inactive Publication Date: 2020-10-09
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Ion beam derotation method In order to maintain the position between the spacecraft and the target object, only half of the fuel is used to derotate the rotating target, and the other half of the propellant is used to counteract the thrust generated by the ion beam blowing towards the target , consumes more fuel

Method used

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  • Multi-wheeled arm space robot facing large rolling target
  • Multi-wheeled arm space robot facing large rolling target

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Effect test

Embodiment

[0030] Such as figure 1 , 2 , a space robot with multi-wheeled arms facing a large rolling target, including a mechanical arm and an end effector of the mechanical arm; the end effector of the mechanical arm includes a mechanical arm 1 and an end effector 2; the end effector 2 is mounted on a end of arm 1;

[0031] The end effector 2 includes an end effector mounting flange 3, a servo motor driver 4, a movable suspension 5, a linear module clutch system 6, a motor flange bracket 7, a servo motor 8, a linear module clutch driver 9, a fixed Suspension 10, limit ball bearing 11, Omni wheel 12, drive ball 15, omnidirectional bearing 16, laser measurement sensor 17 and drive ball support 18; One end of described motor flange support 7 is provided with movable suspension 5, so The movable suspension 5 is provided with a servo motor driver 4, and the other end of the motor flange bracket 7 is provided with a servo motor 8 and an omni wheel 12, and the servo motor 8 is used to contr...

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Abstract

The invention provides a multi-wheeled arm space robot facing a large rolling target, and belongs to the technical field of electricity. The multi-wheeled arm space robot comprises a universal manipulator arm and a full-degree-of-freedom active friction end effector. Three coupled Omni wheels are driven by three servo motors, and the wheels are in close contact with a friction ball. The six-degree-of-freedom omnidirectional control of the friction ball is realized. The friction ball is constrained by an omnidirectional bearing and is in contact with a captured object. The control of a contactobject is achieved through the friction generated by the contact. The robot solves the problem of passively de-rotating and capturing the spin motion of non-cooperative targets. The end effector is incontact with the surface of the captured object through the friction ball which can be controlled omnidirectionally. Through the coordinated control of a plurality of manipulator arms, the capture and manipulation of the captured object is realized.

Description

technical field [0001] The invention relates to a multi-wheel arm space robot facing a large rolling target, specifically a spacecraft space grasping end effector based on the principle of full-degree-of-freedom active friction of omnidirectional wheels, belonging to the field of electrical technology. 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. In Orbit Servicing and Cleanup [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 upgrade and other space activities. [0004] Since the end of the last centur...

Claims

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Application Information

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IPC IPC(8): B25J15/00B64G4/00
CPCB25J15/008B64G4/00B64G2004/005
Inventor 李常杜宝森王燕波李晓琪吕博瀚
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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