Spatial reconfigurable truss type arresting mechanism and its arresting method

Abstract

The invention provides a spatially reconfigurable truss-type capture mechanism and a capture method thereof. The capture mechanism includes a base and two reconfigurable truss-type capture fingers, and each reconfigurable truss-type capture finger has Consists of a butt plug truss unit, a dock interface truss unit, several modular expandable truss units and a number of linear drives, one butt plug truss unit for each reconfigurable truss-type grabbing finger, several modular expandable truss units and A docking interface truss unit is connected in sequence, and a linear drive device is connected between two adjacent truss units of each reconfigurable truss type grabbing finger. The present invention can realize the docking or separation between the grasping finger and the base, and the docking and separation between the two fingers. According to the different requirements of the grasping task, the two fingers can be selected to cooperate to capture or the two fingers can be docked to form an extended finger. Complete capture; docking extension, simple structure, light weight, large capture space, good adaptability to capture objects.

Description

technical field [0001] The invention belongs to the technical field of space robots, and in particular relates to a space reconfigurable truss type capture mechanism and a capture method thereof. Background technique [0002] With the development of aerospace technology, the frequency of space exploration activities has increased year by year, and more and more spacecraft are performing tasks in orbit. However, due to its own failure, exhaustion of fuel or collision, the orbiting spacecraft will fail and become space junk, threatening the safety of other spacecraft and astronauts. The use of on-orbit capture devices to capture and reuse failed spacecraft is of great significance to extend the service life of spacecraft, reduce costs and maintain the safety of the space environment. Therefore, from a long-term development perspective, the capture device for on-orbit service will become an indispensable application technology in my country's future space exploration. [0003...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention aims to propose a space reconfigurable truss-type capture mechanism and its capture method, which solves the problem that the existing space capture device has complex structure, heavy mass, small capture space, and adaptability to captured objects. Problems of poor performance and inability to connect and expand

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