Two-finger rigid grasping manipulator based on webbed origami

Abstract

The present invention provides a two-finger rigid capture manipulator based on webbed origami, comprising a first support assembly, a finger segment assembly, and a drive assembly. The finger segment assembly is disposed below the first support assembly, and the first support assembly and the finger segment assembly are symmetrically arranged on either side of the drive assembly. The first support assembly includes four V-Miura truss support mechanisms, and the finger segment assembly includes twelve Waterbomb truss mechanisms. The present invention combines origami theory with kinematic pair matching. The manipulator is laterally deployable based on the lateral deployability of V-Miura folds. The Waterbomb folds are capable of flexible capture, enabling the manipulator to achieve flexible capture. By driving the V-Miura truss support mechanisms to deploy, the Waterbomb truss mechanisms deploy and perform envelope capture. This manipulator occupies a smaller space during launch, reducing the required transport envelope space. It can also achieve large-aperture capture in orbit, useful for capturing non-cooperative targets in space.

Description

Technical Field

[0001] The present invention relates to the field of aerospace capture technology, and in particular to a two-finger rigid capture manipulator based on webbed origami. Background Art

[0002] With the recent development of the aerospace industry, competition in space technology has become increasingly fierce. Countries have launched numerous spacecraft into orbit to carry out missions. However, due to the limited available space, an overabundance of spacecraft inevitably leads to a series of problems. For example, some spacecraft that have exhausted their fuel cannot receive adequate repair and become space debris, leaving valuable orbits occupied by abandoned spacecraft. Furthermore, the capture of non-cooperative satellites also relies on space capture technology, making the capture and recovery of failed spacecraft an increasingly important and hotly debated issue. Currently, the use of space manipulators to capture non-cooperative satellites and space debris often suffers from complex system architecture, large launch volumes, and difficulty in coordinating and controlling multiple manipulators. This makes the capture of non-cooperative targets even more challenging. Therefore, space capture robots are required to possess advantages such as a simple structure, a small launch volume, simple and easy-to-control actuation, and high reliability. To address these issues, a two-finger rigid capture manipulator based on webbed origami is proposed.

[0003] For example, in the document with publication number CN110979756B, a spatially expandable capture robot device is disclosed, including a base and multiple robot claws, the robot claws include multiple folding units connected in sequence, the folding units include a support, a side-flipping scissors mechanism and a driving mechanism, the support includes a base plate and a movable plate, the movable plate and the base plate can slide relative to each other, the side-flipping scissors mechanism includes two identical scissors arms, and the two scissors arms are rotatably connected by an offset hinge point; the driving mechanism provides a power source for the movable plate in one of the supports, causing it to displace relative to the base plate, so as to cause lateral reciprocating flipping in the other support.

[0004] The above-mentioned literature has problems such as too many driving components, complex driving, and unsuitability for working in space conditions. Therefore, it is necessary to study a two-finger rigid grasping manipulator based on webbed origami. Summary of the Invention

[0005] To address the challenges of the existing technology, the present invention provides a two-finger rigid capture manipulator based on webbed origami. This design combines origami theory with kinematic pair matching. Leveraging the lateral expandability of V-Miura folds, the manipulator achieves lateral expandability. Leveraging the bendable capture capabilities of Waterbomb folds, the manipulator acquires the ability to bend and capture. By driving the V-Miura truss support mechanism to expand, the Waterbomb truss mechanism deploys, enabling envelope capture. This manipulator occupies a smaller space during launch, reducing the required transport envelope. It also enables large-aperture capture in orbit, making it suitable for capturing non-cooperative targets in space.

[0006] The present invention provides a two-finger rigid grasping manipulator based on webbed origami, which includes a first support assembly, a finger segment assembly and a drive assembly; the finger segment assembly is arranged below the first support assembly, and the first support assembly and the finger segment assembly are symmetrically arranged on both sides of the drive assembly; the first support assembly includes four V-Miura truss support mechanisms, an outward topological joint and an end topological joint, and two adjacent V-Miura truss support mechanisms are connected by the end topological joint, the finger segment assembly includes twelve Waterbomb truss mechanisms and a top topological joint, and two adjacent Waterbomb truss mechanisms are connected by the top topological joint, and the V-Miura a truss support mechanism includes a driving rod, an abduction rod, an upper cross rod, an oblique support rod, an abduction joint, an active center rod, a driven center rod, an end five-axis joint, a first Y-shaped joint, a lower cross rod, a second Y-shaped joint and an end joint, wherein the first ends of the driving rod, the abduction rod, the upper cross rod and the oblique support rod are connected via the abduction joint, the second end of the upper cross rod is respectively connected to the first ends of the active center rod and the driven center rod via the end five-axis joint, the active center rod is connected to the second end of the oblique support rod via the first Y-shaped joint, the second end of the driven center rod is connected to the first end of the lower cross rod via the second Y-shaped joint, and the second end of the lower cross rod is connected to the second end of the abduction rod via the end joint; The Waterbomb truss mechanism includes a finger segment driving rod, a top joint, a first driven rod, a second driven rod, a middle rod, a middle joint and a tip six-axis joint, both ends of the finger segment driving rod are connected to the first ends of the first driven rod and the second driven rod through the top joint, the second end of the first driven rod is connected to the first end of the middle rod through the middle joint, and the second end of the middle rod is connected to the second end of the second driven rod through the tip six-axis joint; the driving assembly includes a fixed plate, a first motor, a second motor, a supporting arm, a supporting arm, a bracket, a supporting plate, a fixed pulley, a first rope, a second rope and a rope reel, the supporting arm is symmetrically arranged on both sides of the fixed plate, and the supporting arm The first end of the first rope is connected to the bracket, and the first end of the second rope passes through the fixed pulley and is connected to the bracket, and the second ends of the first rope and the second rope are both wound around the rope winding drum, and the rope winding drum is connected to the output shaft of the first motor and the second motor through a coupling.

[0007] Preferably, the first ends of the upper cross rod, diagonal support rod and outward rod are connected to the first ends of the driving rod, upper cross rod and diagonal support rod of the adjacent V-Miura truss support mechanism by means of the outward topological joint, and the second ends of the lower cross rod and outward rod are connected to the second end of the lower cross rod of the adjacent V-Miura truss support mechanism by means of the end topological joint.

[0008] Preferably, the first ends of the finger segment driving rod, the first follower rod and the second follower rod are connected to the first ends of the first follower rod and the second follower rod of the adjacent Waterbomb truss mechanism by means of the top topological joint.

[0009] Preferably, the outward-extending joint, the first Y-shaped joint, the second Y-shaped joint, the end joint, the outward-extending topological joint and the end topological joint are all connected by a cross axis, the two rotating axes of the cross axis do not intersect and have a certain distance, and have two rotational degrees of freedom.

[0010] Preferably, the finger segment driving rods of the two adjacent Waterbomb truss mechanisms move in the same horizontal plane.

[0011] Preferably, the first motor and the second motor are respectively arranged at diagonal positions of the fixing plate.

[0012] Preferably, the abduction rod performs single-degree-of-freedom rotation with the end joint and the end topological joint respectively; the driven middle rod and the active middle rod perform single-degree-of-freedom rotation with the end five-axis joint, the first Y-shaped joint and the second Y-shaped joint respectively.

[0013] Preferably, the left and right fingers are each composed of three of the Waterbomb truss mechanisms, and each truss mechanism is composed of two of the Waterbomb truss mechanisms to form a double-layer symmetrical structure.

[0014] Preferably, the center rod has one rotational degree of freedom with the connected joint, and the first driven rod and the second driven rod each have two rotational degrees of freedom with the connected joint.

[0015] Preferably, the V-Miura truss support mechanism and the Waterbomb truss mechanism are connected via the end joint, the end topology joint and the second Y-shaped joint.

[0016] The characteristics and beneficial effects of the present invention are:

[0017] 1. The present invention is a two-finger rigid grasping manipulator based on webbed origami. Starting from the V-Miura and Waterbomb folds in origami theory, a new spatial grasping structure is designed. The manipulator is laterally foldable based on the lateral foldability of the V-Miura folds, and the flexible grasping capability of the Waterbomb folds is utilized to enable the manipulator to acquire a flexible grasping capability. By driving the V-Miura truss support mechanism to expand, the Waterbomb truss mechanism is expanded and an enveloping grasp is performed, thereby reducing the collapsed volume of the grasping mechanism.

[0018] 2. The present invention is based on a two-finger rigid grasping manipulator with webbed origami. Both the V-Miura truss support mechanism and the Waterbomb truss mechanism adopt a connection method of rods and joints, which enables bending and grasping of the finger segments during the folding process. The number of Waterbomb truss mechanisms can be adjusted by the lateral topology to achieve multi-joint bending, thereby realizing the grasping of objects of different sizes.

[0019] 3. The two-finger rigid grasping manipulator based on webbed origami of the present invention adopts two motors to adjust the distance between the driving rods through a rope-driven driving mode to realize the grasping and releasing of the manipulator, which not only makes the operation of the manipulator simple and reliable, but also reduces the overall total mass. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 2. This is a schematic diagram of the structure of a two-finger rigid grasping manipulator based on webbed origami according to the present invention;

[0021] Figure 2 It is a schematic diagram of the overall front view structure of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the first supporting assembly in the present invention;

[0023] Figure 4 It is a structural schematic diagram of the V-Miura truss support mechanism of the present invention;

[0024] Figure 5 Schematic diagram of the structure of the finger segment assembly of the present invention;

[0025] Figure 6 Schematic diagram of the structure of the Waterbomb truss mechanism of the present invention;

[0026] Figure 7 It is a structural diagram of the driving component in the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the cross axis;

[0028] Figure 9This is a schematic diagram of the Waterbomb and V-Miura webbed origami.

[0029] Main reference numerals:

[0030] First support assembly I, V-Miura truss support mechanism 1, driving rod 101, outward extension rod 102, upper cross rod 103, oblique support rod 104, outward extension joint 105, active middle rod 106, driven middle rod 107, end five-axis joint 108, first Y-shaped joint 109, lower cross rod 110, second Y-shaped joint 111, end joint 112, outward extension topological joint 113, end topological joint 114, finger segment assembly II, Waterbomb truss mechanism 2, finger segment driving rod 21, top End joint 22, first driven rod 23, second driven rod 24, middle rod 25, middle joint 26, tip six-axis joint 27, top topology joint 28, drive assembly 3, fixed plate 301, first motor 302, second motor 303, supporting arm 304, supporting arm 305, bracket 306, support plate 307, fixed pulley 308, first rope 309, second rope 310, rope reel 311, cross axis 4, V-Miura origami part A, Waterbomb origami part B. DETAILED DESCRIPTION

[0031] To fully describe the technical content, structural features, objectives and effects of the present invention, the following is a detailed description with reference to the accompanying drawings.

[0032] The present invention is based on a two-finger rigid grasping manipulator of webbed origami, such as Figure 1 and Figure 2 As shown, it includes a first support assembly I, a finger segment assembly II, and a drive assembly 3. The finger segment assembly II is arranged below the first support assembly I, and the first support assembly I and the finger segment assembly II are symmetrically arranged on both sides of the drive assembly 3. The V-Miura truss support mechanism and the Waterbomb truss mechanism are connected via an end joint 108, an end topological joint 114, and a second Y-shaped joint 111. The first support assembly I includes four V-Miura truss support mechanisms 1, an outward topological joint 113, and an end topological joint 114. Two adjacent V-Miura truss support mechanisms 1 are connected via the end topological joint 114. The finger segment assembly II includes twelve Waterbomb truss mechanisms 2 and a top topological joint 28. Two adjacent Waterbomb truss mechanisms 2 are connected via the top topological joint 28. The Waterbomb truss mechanism is also called a waterbomb crease truss mechanism, and the first support assembly is also called a V-Miura support assembly.

[0033] like Figure 3 and Figure 4As shown, the V-Miura truss support mechanism 1 includes a driving rod 101, an abduction rod 102, an upper cross rod 103, an oblique support rod 104, an abduction joint 105, an active center rod 106, a driven center rod 107, an end five-axis joint 108, a first Y-shaped joint 109, a lower cross rod 110, a second Y-shaped joint 111 and an end joint 112. The first ends of the driving rod 101, the abduction rod 102, the upper cross rod 103 and the oblique support rod 104 are connected through the abduction joint 105, and the second end of the upper cross rod 103 is connected to the first ends of the active center rod 106 and the driven center rod 107 respectively through the end five-axis joint 108; the active center rod 106 is connected to the second end of the oblique support rod 104 through the first Y-shaped joint 109; the second end of the driven center rod 107 is connected to the first end of the lower cross rod 110 through the second Y-shaped joint 111 The second end of the lower cross rod 110 is connected to the second end of the abduction rod 102 through the end joint 112; the first end of the upper cross rod 103, the diagonal support rod 104 and the abduction rod 102 is connected to the first end of the driving rod 101, the upper cross rod 103 and the diagonal support rod 104 of the adjacent V-Miura truss support mechanism 1 by means of the abduction topological joint 113, and the second end of the lower cross rod 110 and the abduction rod 102 is connected to the second end of the lower cross rod 110 of the adjacent V-Miura truss support mechanism 2 by means of the end topological joint 114; the abduction rod 102 performs a single degree of freedom rotation with the end joint 112 and the end topological joint 114 respectively; the driven middle rod 107 and the active middle rod 106 perform a single degree of freedom rotation with the end five-axis joint 108, the first Y-shaped joint 109 and the second Y-shaped joint 111 respectively.

[0034] like Figure 5 and Figure 6As shown, the Waterbomb truss mechanism 2 includes a finger segment driving rod 21, a top joint 22, a first driven rod 23, a second driven rod 24, a middle rod 25, a middle joint 26 and a tip six-axis joint 27. Both ends of the finger segment driving rod 21 are connected to the first ends of the first driven rod 23 and the second driven rod 24 through the top joint 22, the second end of the first driven rod 23 is connected to the first end of the middle rod 25 through the middle joint 26, and the second end of the middle rod 25 is connected to the second end of the second driven rod 24 through the tip six-axis joint 27; the first ends of the finger segment driving rod 21, the first driven rod 23 and the second driven rod 24 are connected to the first ends of the first driven rod 23 and the second driven rod 24 of the adjacent Waterbomb truss mechanism 2 by means of the top topological joint 28; the finger segment driving rods 21 of the two adjacent Waterbomb truss mechanisms 2 move in the same horizontal plane; the left and right fingers are composed of three Waterbomb truss mechanisms 2, and each truss mechanism is composed of two Waterbomb truss mechanisms 2 to form a double-layer symmetrical structure. There is one degree of rotational freedom between the middle rod 25 and the connected joint, and there are two degrees of rotational freedom between the first driven rod 23 and the second driven rod 24 and the connected joint.

[0035] like Figure 7 As shown, the drive assembly 3 includes a fixed plate 301, a first motor 302, a second motor 303, a support arm 304, a support arm 305, a bracket 306, a support plate 307, a fixed pulley 308, a first rope 309, a second rope 310 and a rope reel 311. The first motor 302 and the second motor 303 are respectively arranged at diagonal positions of the fixed plate 301, and the support arm 304 is symmetrically arranged on both sides of the fixed plate 301, and the first end of the support arm 304 is rotatably connected to the fixed plate 301, the first end of the support arm 305 is rotatably connected to the second end of the support arm 304 through a pin, and the support arm 305 is symmetrically arranged. On both sides of the bracket 306, the bracket 306 is rotatably connected to the second end of the support arm 305, the middle position of the support plate 307 is fixedly connected to the bracket 306, the two ends of the support plate 307 are connected to the outward joint 105 of the first support component I, the fixed pulley 308 is set on one side of the bracket 306, the first end of the first rope 309 is connected to the bracket 306, the first end of the second rope 310 passes around the fixed pulley 308 and is connected to the bracket 306, the second ends of the first rope 309 and the second rope 310 are both wound on the rope winding drum 311, and the rope winding drum 311 is connected to the output shafts of the first motor 302 and the second motor 303 through a coupling.

[0036] like Figure 8As shown, the outward-facing joint 105, the first Y-shaped joint 109, the second Y-shaped joint 111, the end joint 112, the outward-facing topological joint 113 and the end topological joint 114 are all connected by a cross-axis, where the two rotating axes of the cross do not intersect and are at a certain distance from each other, and have two rotational degrees of freedom.

[0037] like Figure 9 As shown, A is the V-Miura origami part, and B is the Waterbomb origami part. It utilizes the principle of a flexible paper manipulator, not only obtaining the foldability and excellent grasping performance of a paper manipulator, but also using rigid rods to replace the peaks and valleys in origami, and using joints to replace the intersections of the peaks and valleys in origami to make the manipulator rigid, which can be better adapted to the harsh working conditions in space.

[0038] The following is a further description of the webbed origami-based two-finger rigid grasping manipulator of the present invention in conjunction with an embodiment. The use process of the webbed origami-based two-finger rigid grasping manipulator of the present invention is as follows:

[0039] First, the grasping and opening of the entire manipulator are achieved by controlling the distance between the drive rods 101. When the distance between the drive rods 101 increases, the finger parts of the manipulator contract to achieve grasping; when the distance between the drive rods 101 decreases, the finger parts of the manipulator open; the above processes are driven by the drive component 3, and the output shafts of the first motor 302 and the second motor 303 are connected to the rope reel 311 through a coupling. The rope is wound on the rope reel 311, and the first motor 302 controls the opening movement of the fingers; the second motor 303 controls the contraction and grasping movement of the fingers.

[0040] Then, when the second motor 303 is started, it drives the second rope 310 to contract, and after changing direction through the fixed pulley 308, it drives the bracket 306 to move outward, so that the outward joint 105 also moves outward, and then the V-Miura truss support mechanism 1 is opened, resulting in an increase in the distance between the end joint 112 and the end topology joint 114; at the same time, the end joint 112, the end topology joint 114, and the Y-shaped joint 109 are all connected to the Waterbomb truss mechanism 2, so that the distance between the finger segment drive rods 21 increases, so the Waterbomb truss mechanism 2 is also opened accordingly, and the distance between the middle joints 26 becomes larger, and the next Waterbomb The finger segment drive rod 21 of the mb truss unit is also directly connected to the middle joint 26; therefore, for the Waterbomb truss mechanism 2, the distance between the middle joints 2 will be inversely proportional to the angle between the finger segment drive rods of adjacent Waterbomb truss units. The more the Waterbomb truss mechanism 2 is opened, the smaller the angle between the finger segment drive rods 21 of the two adjacent Waterbomb truss units, thus realizing the retraction and grasping movement of the fingers; conversely, if the first motor 302 is started, the outward joint 106 will move inward, causing the V-Miura truss support mechanism 1 to contract, resulting in the contraction of the Waterbomb truss mechanism 2, thus realizing the opening movement of the fingers.

[0041] Finally, the smaller the angle between the finger segment drive rods 21 of adjacent Waterbomb truss mechanisms 2, the greater the inward contraction of the fingers and the stronger the grasping force. The larger the angle between the finger segment drive rods 21 of the connected Waterbomb truss mechanisms 2, the greater the finger opening angle and the weaker the grasping force. The two actions of contraction, grasping and opening of the present invention can be achieved based on the cooperation between the above-mentioned joints and joints.

[0042] This two-finger rigid capture manipulator, based on webbed origami, combines origami theory with kinematic pair matching. Leveraging the lateral expandability of V-Miura folds, the manipulator achieves lateral expandability. Leveraging the bendability of Waterbomb folds, the manipulator acquires the ability to bend and capture. By driving the V-Miura truss support mechanism 1 to deploy, the Waterbomb truss mechanism 2 deploys, enabling envelope capture. This manipulator occupies a smaller space during launch, reducing the required transport envelope. It also enables large-aperture capture in orbit, making it suitable for capturing non-cooperative targets in space.

[0043] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A two-finger rigid grasping manipulator based on webbed origami, characterized in that: It includes a first support assembly, a finger segment assembly and a drive assembly; the finger segment assembly is arranged below the first support assembly, and the first support assembly and the finger segment assembly are symmetrically arranged on both sides of the drive assembly; The first support assembly includes four V-Miura truss support mechanisms, an outward topological joint, and an end topological joint, and two adjacent V-Miura truss support mechanisms are connected by the end topological joint. The finger segment assembly includes twelve Waterbomb truss mechanisms and a top topological joint, and two adjacent Waterbomb truss mechanisms are connected by the top topological joint. The V-Miura truss support mechanism includes a driving rod, an abduction rod, an upper cross rod, an oblique support rod, an abduction joint, an active center rod, a driven center rod, an end five-axis joint, a first Y-shaped joint, a lower cross rod, a second Y-shaped joint and an end joint, wherein the first ends of the driving rod, the abduction rod, the upper cross rod and the oblique support rod are connected via the abduction joint, the second end of the upper cross rod is respectively connected to the first ends of the active center rod and the driven center rod via the end five-axis joint, the active center rod is connected to the second end of the oblique support rod via the first Y-shaped joint, the second end of the driven center rod is connected to the first end of the lower cross rod via the second Y-shaped joint, and the second end of the lower cross rod is connected to the second end of the abduction rod via the end joint; The Waterbomb truss mechanism includes a finger segment driving rod, a top joint, a first driven rod, a second driven rod, a middle rod, a middle joint, and a tip six-axis joint, wherein both ends of the finger segment driving rod are connected to the first ends of the first and second driven rods via the top joint, the second end of the first driven rod is connected to the first end of the middle rod via the middle joint, and the second end of the middle rod is connected to the second end of the second driven rod via the tip six-axis joint; The driving mechanism that the present invention relates to a driving mechanism that the sprocket is the first motor and the second motor is connected with the pin of the driving mechanism, and the sprocket is connected with the pin of the driving mechanism.

2. The two-finger rigid grasping manipulator based on webbed origami according to claim 1 is characterized in that: The first ends of the upper cross rod, diagonal support rod and outward rod are connected to the first ends of the driving rod, upper cross rod and diagonal support rod of the adjacent V-Miura truss support mechanism by means of the outward topological joint, and the second ends of the lower cross rod and outward rod are connected to the second end of the lower cross rod of the adjacent V-Miura truss support mechanism by means of the end topological joint.

3. The two-finger rigid grasping manipulator based on webbed origami according to claim 1 is characterized in that: The first ends of the finger segment driving rod, the first follower rod and the second follower rod are connected to the first ends of the first follower rod and the second follower rod of the adjacent Waterbomb truss mechanism by means of the top topological joint.

4. The two-finger rigid grasping manipulator based on webbed origami according to claim 1 is characterized in that: The outward-extending joint, the first Y-shaped joint, the second Y-shaped joint, the end joint, the outward-extending topological joint and the end topological joint are all connected by a cross axis, the two rotating axes of the cross axis do not intersect and have a certain distance, and have two rotational degrees of freedom.

5. The two-finger rigid grasping manipulator based on webbed origami according to claim 1 is characterized in that: The finger segment driving rods of the two adjacent Waterbomb truss mechanisms move in the same horizontal plane.

6. The two-finger rigid grasping manipulator based on webbed origami according to claim 1 is characterized in that: The first motor and the second motor are respectively arranged at diagonal positions of the fixing plate.

7. The two-finger rigid grasping manipulator based on webbed origami according to claim 1 is characterized in that: The abduction rod rotates with a single degree of freedom respectively with the end joint and the end topological joint; the driven middle rod and the active middle rod rotate with a single degree of freedom respectively with the end five-axis joint, the first Y-shaped joint and the second Y-shaped joint.

8. The two-finger rigid grasping manipulator based on webbed origami according to claim 1 is characterized in that: The left and right fingers are each composed of three Waterbomb truss mechanisms, and each truss mechanism is composed of two Waterbomb truss mechanisms to form a double-layer symmetrical structure.

9. The two-finger rigid grasping manipulator based on webbed origami according to claim 1, characterized in that: There is one degree of rotational freedom between the center rod and the connected joint, and there are two degrees of rotational freedom between the first driven rod and the second driven rod and the connected joint.

10. The two-finger rigid grasping manipulator based on webbed origami according to claim 1, characterized in that: The V-Miura truss support mechanism and the Waterbomb truss mechanism are connected via the end joint, the end topology joint and the second Y-shaped joint.

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