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A Metamorphic Series-Parallel Manipulator Structure for Space Manipulation

A technology of manipulators and mechanical fingers, which is applied in the field of spatial manipulation metamorphic series-parallel manipulator structures, can solve the problems of low rigidity, insufficient flexibility, and difficult operation, and achieve the effect of good overall rigidity

Active Publication Date: 2022-04-12
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to propose a space operation metamorphic series-parallel manipulator structure in view of the problems of low rigidity, difficult operation and insufficient flexibility of the space operation manipulator in the prior art

Method used

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  • A Metamorphic Series-Parallel Manipulator Structure for Space Manipulation
  • A Metamorphic Series-Parallel Manipulator Structure for Space Manipulation
  • A Metamorphic Series-Parallel Manipulator Structure for Space Manipulation

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specific Embodiment approach 1

[0029] Specific implementation mode one: refer to figure 1 Describe this embodiment in detail, a kind of spatial manipulation variant series-parallel manipulator structure described in this embodiment, including: at least two series-parallel manipulator assembly 1 and manipulator base 3;

[0030] The series-parallel manipulator assembly 1 includes at least one parallel manipulator structural unit assembly 1-1, and the parallel manipulator structural unit assembly 1-1 includes a moving platform 2-1 and a static platform 2-2, and the moving platform 2-1 It is connected with the static platform 2-2 through two dynamic connection components and one static connection component,

[0031] The dynamic connection assembly includes a first square hollow connecting rod 2-31 and a second square hollow connecting rod 2-32, and one end of the first square hollow connecting rod 2-31 connects with the first ball pair 2-35. The moving platform 2-1 is connected, and one end of the second squar...

specific Embodiment approach 2

[0043] Embodiment 2: This embodiment is a further description of Embodiment 1. The difference between this embodiment and Embodiment 1 is that the metamorphic component 2-33 includes a tooth seat 3-1 and a return spring 3-2 , the guide cylinder 3-3, the coupling 3-4, the lock block 3-5, the artificial muscle 3-6, the sliding claw sleeve 3-7 and the rotating shaft 3-8, one end of the rotating shaft 3-8 is arranged on the guide On the inner side of the cylinder 3-3, a sliding claw sleeve 3-7 is provided on the end of the rotating shaft 3-8 placed on the inner side of the guide cylinder 3-3. The artificial muscles 3-6 are fixedly connected, the guide cylinder 3-3 is also provided with a helical tooth seat 3-1 matched with the sliding claw sleeve 3-7, the helical tooth seat 3-1 and the sliding claw sleeve 3-7 There is a return spring 3-2 therebetween, and one end of the rotating shaft 3-8 placed outside the guide cylinder 3-3 is movably connected to the lock block 3-5 through a co...

specific Embodiment approach 3

[0044] Embodiment 3: This embodiment is a further description of Embodiment 1. The difference between this embodiment and Embodiment 1 is that the first ball pair 2-35 includes a Hooke hinge and a sub-rotating pair. The hinge includes a T-shaped shaft 5 and a fork seat 6, and the Hooke hinge is connected to the moving platform 2-1 through a sub-rotation pair.

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Abstract

A space-operated metamorphic series-parallel manipulator structure, which relates to the technical field of mechanical engineering. Aiming at the problems of low rigidity, difficult operation and insufficient flexibility of the space-operated manipulator in the prior art, the metamorphic series-parallel manipulator involved in the present invention The structure can realize the function of metamorphosis, which enhances the maneuverability and the flexibility of the space capture mechanism, and the operation difficulty is low; the invention is a modular design, which can be spliced ​​according to needs, and the overall rigidity of the capture mechanism is good, and the reduction box can be used The inner worm gear is self-locking; the invention can be reconfigured in space, and can capture both long-range operating targets and small-scale tiny targets.

Description

technical field [0001] The invention relates to the technical field of mechanical engineering, in particular to a space-operated metamorphic series-parallel manipulator structure. Background technique [0002] With the successive launch and implementation of major aerospace projects such as manned spacecraft, space station, lunar and Mars exploration, earth observation, and space science research in China, as well as complex space on-orbit control for space garbage recovery, on-orbit maintenance, and space attack and defense, etc. According to the requirements of the operation, it is more and more important to study the space agencies with the ability to capture non-cooperative targets in space. Therefore, in order to achieve the capture of non-cooperative targets in space, it is urgent to study large-scale, reconfigurable space robotic grippers, which are characterized by a large operating range, a wide range of controllable activities, good overall rigidity, and can change...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 郭宏伟赵冲郭文尚肖洪李兵刘荣强邓宗全
Owner HARBIN INST OF TECH
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