Space Capture Vibration Damping Device for Starship Robotic Arm

Abstract

The invention provides a space capture vibration damping device for a starship manipulator, which comprises a machine base, a gimbal, a long link, a short link, a transition section, a capturing front end and a damper. The first ball head of the gimbal is connected with the first ball head seat of the machine base, the fourth pin hole of the first and second short links is connected with the pin hole of the gimbal, the first and second short links are The fifth pin hole is connected with the first pin hole of the first and second long links, the second pin hole of the first and second long links is connected with the slideway of the balance frame, the first and second long links The third pin hole of the connecting rod is connected with the fourth pin hole of the third and fourth short connecting rods, the fifth pin hole of the third and fourth short connecting rods is connected with the through hole of the transition joint, and the The second ball joint is connected to the second ball joint seat that captures the front end. The invention can not only reduce the vibration caused by the collision when capturing the non-cooperative target, but also avoid the frequent adjustment of the position and attitude of the mechanical arm, allowing the non-cooperative target to collide and capture the front end from an oblique 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 explosive debris. These objects range from the burning residue of solid rockets to as large as multistage rockets that are abandoned after launch. They run the risk of hitting other spacecraft, and some space junk poses a threat to ground safety as they re-enter 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 dangerous. With the advancement of space exploration, the amount of space junk has increased year by year, and the problem of space junk has begun to receive increasing atten...

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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