Space capture damping device for starship mechanical arm

Abstract

The invention provides a space capture damping device for a starship mechanical arm. The device comprises a machine base, a balancing frame, long connecting rods, short connecting rods, a transition joint, a capturing front end and a damper. A first ball of the balancing frame is connected with a first ball seat of the machine base, fourth pin shaft holes of a first short connecting rod and a second short connecting rod are connected with a pin shaft hole of the balancing frame, fifth pin shaft holes of the first short connecting rod and the second short connecting rod are connected with first pin shaft holes of a first long connecting rod and a second long connecting rod, second pin shaft holes of the first long connecting rod and the second long connecting rod are connected with a sliding way of the balancing frame, third pin shaft holes of the first long connecting rod and the second long connecting rod are connected with fourth pin shaft holes of a third short connecting rod and a fourth short connecting rod, fifth pin shaft holes of the third short connecting rod and the fourth short connecting rod are connected with a through hole of the transition joint, and a second ball head of the transition joint is connected with a second ball head seat of the capturing front end. Vibration caused by collision when the non-cooperative target is captured can be reduced, frequent pose adjustment of the mechanical arm can be avoided, and the non-cooperative target is allowed to collide with the capturing front end from the inclination angle.

Description

technical field [0001] The invention relates to the field of passive vibration control, in particular to a space capture vibration damping device for a starship mechanical arm. Background technique [0002] In orbit around the earth, there are some non-cooperative targets such as defunct or malfunctioning satellites and some explosion wreckage. These objects range from the burning residue of solid rockets to large multi-stage rockets that are abandoned after launch. They have the risk of hitting other spacecraft, and some space junk can also pose a threat to the safety of the ground when it returns to the atmosphere. Since space junk travels at orbital speeds, a collision with them could seriously damage a functioning spacecraft and even threaten the lives of astronauts during extravehicular activities. It is extremely harmful. With the advancement of space exploration, the amount of space junk is increasing year by year, and the issue of space junk has attracted increasi...

AI Technical Summary

Problems solved by technology

However, in the current capture process using the robotic arm, due to the relative motion of the two objects and the delay of the visual sensing system, multi-directional collisions will occur between the robotic arm and the non-cooperative target during capture, and the vibration generated by the collision will pass through the mechanical The arm is passed to the starship, and some delicate equipment is at risk of damage

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