Space capture robot based on bistable origami

Abstract

This invention provides a space capture robot based on bistable origami, comprising a first panel, a second panel, a third panel, a fourth panel, a fifth panel, a sixth panel, a central panel, a servo motor, and a robotic arm. The first, second, third, fourth, fifth, and sixth panels are symmetrically arranged around the central panel, with the diagonal of the central panel as the axis of symmetry. Adjacent panels are hinged together by creases, and multiple panels are sequentially hinged and linked together. The robotic arm is connected to the center of the central panel. This invention combines origami with mechanical design, using the servo motor to change the angle between the sixth panels, thereby causing each panel to retract. The robotic arm then locks and maintains their relative positions, forming an ellipsoidal thin-walled structure to quickly achieve the grasping action. It has the advantages of fast grasping response, light weight, high retraction ratio, and high capture efficiency, and is used for the precise capture of non-cooperative targets in space.

Description

Technical Field

[0001] This invention belongs to the field of capture robot technology, specifically relating to a spatial capture robot based on bistable origami. Background Technology

[0002] Space capture technology is mainly used for capturing non-cooperative targets outside the spacecraft or space station. Therefore, space capture should have basic capture functions, sensing and analysis functions, a flexible workspace, working modes that can cope with different capture targets, and controllable capture stiffness and force. In addition, considering the characteristics of on-orbit service, the robot also needs to be lightweight, small in size, have a high retraction ratio, and be adaptable to the working environment of vacuum and weightlessness.

[0003] CN 110405799 A discloses a multi-finger dexterous robotic hand. This application relies on multiple prime movers and an electronic control system to realize finger movements. The fingers are heavy and difficult to control.

[0004] CN112027650 A discloses a flexible concave part gripping robot, gripping method, separation mechanism and separation method. This application relies on a support base, a slide rod slidably passing through the support base, a follower seat connected to the slide rod, and at least three sets of grippers hinged along the circumference of the support base to achieve gripping of flexible concave parts. However, its gripping method is relatively simple, the control is complex, and the flexibility is poor.

[0005] Current research on space capture robots is mainly divided into rigid robots and soft robots. Compared with traditional rigid robots, soft robots exhibit superior compliance and environmental adaptability. However, research on soft capture robots is still in the theoretical stage because factors such as vacuum weightlessness or capture stiffness and force make them difficult to apply in practice. They also suffer from drawbacks such as poor folding ability, large size, and sluggishness, making them ineffective at capturing non-cooperative targets. Therefore, it is necessary to design a space capture manipulator based on bistable origami. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention provides a space capture robot based on bistable origami. The grasping action is achieved through the cooperation between the panels and hinge components. The servo motor drives the sixth panel to rotate, which in turn drives all the panels to retract. Then, the robotic arm is driven to bring the panels closer together and lock the robotic arm to maintain their relative positions, thereby forming an ellipsoidal thin-walled structure to quickly achieve the grasping action. It has the advantages of fast grasping response speed, light weight, high retraction ratio and high capture efficiency, and is suitable for the precise capture of non-cooperative targets in space.

[0007] This invention provides a spatial capture robot based on bistable origami, comprising a first panel, a second panel, a third panel, a fourth panel, a fifth panel, a sixth panel, a center panel, a servo motor, and a robotic arm. The first, second, third, fourth, fifth, and sixth panels are symmetrically arranged around the center panel, with the diagonal of the center panel as the axis of symmetry. Adjacent panels are hinged together by creases, and multiple panels are sequentially hinged and linked. The robotic arm is connected to the center of the center panel. The connection relationships between the panels are as follows: the symmetrically arranged first panels are connected by a first revolute joint; the first end of the first panel is rotatably connected to the first end of the second panel via a connecting rod; the second end of the first panel is rotatably connected to the second end of the second panel via a universal hinge; the symmetrically arranged first panels are rotatably connected to the center panel via hinges; the second panel is connected to the fourth panel via a second revolute joint; the third panel is connected to the center panel via a third revolute joint; the fourth panel is connected to the third panel via a fourth revolute joint; and the fifth panel... The first panel is connected to the third panel via a fifth revolute joint, the fourth panel is connected to the sixth panel via a sixth revolute joint, the symmetrically arranged fifth panels are connected via a seventh revolute joint, the fifth panel is connected to the sixth panel via an eighth revolute joint, and the symmetrically arranged sixth panels are connected via a ninth revolute joint. The servo motor is connected to the shaft of the ninth revolute joint. The servo motor drives the shaft of the ninth revolute joint to rotate, changing the included angle between adjacent sixth panels, thereby causing each panel to close sequentially. Then, by locking the robotic arm, the panels maintain their relative positions, forming an ellipsoidal thin-walled structure to quickly achieve the closing and grasping action. In the fully extended state, the panels are parallel to each other, and the sum of the two opposite angles at the hinge intersection of the second, third, and fourth panels is 180°. The sum of the two opposite angles at the hinge intersection of the third, fourth, fifth, and sixth panels is 180°, and the axis of the fourth revolute joint coincides with the axis of the eighth revolute joint. In the fully closed state, the second, third, and fourth panels overlap, and the fifth and sixth panels overlap.

[0008] Preferably, the first, second, fourth, fifth, eighth, and ninth rotary joints are all convex creases, and the hinge joints of the convex creases are disposed on the first end face of the connecting panel.

[0009] Preferably, the third, sixth, and seventh rotary joints are all concave creases, and the hinge joints of the concave creases are disposed on the second end face of the connecting panel.

[0010] Preferably, the angular range of both the convex and concave creases is within 180°, and the rotation directions of the convex and concave creases are opposite.

[0011] Preferably, the first panel, the second panel, the third panel, the sixth panel and the center panel are all quadrilateral structures, and the fifth panel is a triangular structure.

[0012] Preferably, the connecting edge between the first panel and the center panel is chamfered, and the thickness of the second panel is half the thickness of the center panel, so that the second panel, the third panel and the fourth panel overlap in the extended state.

[0013] Preferably, the thickness of the fifth panel is half the thickness of the central panel, so that the fifth panels can be combined and move in a non-interfering state.

[0014] Preferably, the axis of rotation of the first panel on the hinge component is perpendicular to the axis of rotation of the center panel.

[0015] Preferably, the universal hinge structure is such that the pivot of the first panel and the pivot of the second panel are rotatably connected by a universal joint.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] This invention is a space capture robot based on bistable origami. It drives the rotation of the shaft between the sixth panel through a servo motor, thereby causing all the panels to retract. Then, it drives the robotic arm to bring the panels closer together, locks the robotic arm and keeps the panels in relative positions, forming an ellipsoidal thin-walled structure to quickly achieve the grasping action. It has the advantages of fast grasping response, light weight, high retraction ratio and high capture efficiency, and is suitable for capturing non-cooperative targets in space. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the unfolded state of the spatial capture robot arm based on bistable origami according to the present invention;

[0019] Figure 2 This is a top view schematic diagram of the spatial capture robot based on bistable origami according to the present invention;

[0020] Figure 3 This is a schematic diagram of the spatial capture robot arm based on bistable origami in the present invention, showing its grasping state.

[0021] Figure 4 This is a schematic diagram of the structure of the hinge connecting the panels in this invention;

[0022] Figure 5 This is a schematic diagram of the structure of the second panel and the fourth panel in this invention;

[0023] Figure 6 This is a schematic diagram showing the angle relationship between the panels in the spatial capture robot hand based on bistable origami according to the present invention.

[0024] Key reference numerals:

[0025] First panel 1, second panel 2, third panel 3, fourth panel 4, fifth panel 5, sixth panel 6, center panel 7, servo motor 8, linkage 9, hinge 10, universal hinge 11, robotic arm 12, first rotary joint R1, second rotary joint R2, third rotary joint R3, fourth rotary joint R4, fifth rotary joint R5, sixth rotary joint R6, seventh rotary joint R7, eighth rotary joint R8, ninth rotary joint R9. Detailed Implementation

[0026] To fully describe the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0027] This invention is based on a bistable origami spatial capture robot, such as... Figure 1 and Figure 2 As shown, it includes a first panel 1, a second panel 2, a third panel 3, a fourth panel 4, a fifth panel 5, a sixth panel 6, a center panel 7, a servo motor 8, and a robotic arm 12. The first panel 1, the second panel 2, the third panel 3, the fourth panel 4, the fifth panel 5, and the sixth panel 6 are symmetrically arranged around the center panel 7, with the diagonal m2m3 of the center panel 7 as the axis of symmetry. The first panel 1, the second panel 2, the third panel 3, the sixth panel 6, and the center panel 7 are all quadrilateral structures, while the fifth panel 5 is a triangular structure. Adjacent panels are hinged together by creases, and multiple panels are hinged together in sequence. The robotic arm 12 is connected to the center of the center panel 7. The connection relationships between the panels are as follows: the first panels 1, which are symmetrically arranged, are connected by the first revolute joint R1; the first end of the first panel 1 is rotatably connected to the first end of the second panel 2 via the connecting rod 9; the second end of the first panel 1 is rotatably connected to the second end of the second panel 2 via the universal hinge 11; the first panels 1, which are symmetrically arranged, are rotatably connected to the center panel 7 via the hinge 10; the second panel 2 is connected to the fourth panel 4 via the second revolute joint R2; the third panel 3 is connected to the center panel 7 via the third revolute joint R3; the fourth panel 4 is connected to the third panel 3 via the fourth revolute joint R4; the fifth panel 5 is connected to the third panel 3 via the fifth revolute joint R5; the fourth panel 4 is connected to the sixth panel 6 via the sixth revolute joint R6; the fifth panels 5, which are symmetrically arranged, are connected by the seventh revolute joint R7; the fifth panels 5 are connected to the sixth panel 6 via the eighth revolute joint R8; the sixth panels 6, which are symmetrically arranged, are connected by the ninth revolute joint R9; and the servo motor 8 is connected to the shaft of the ninth revolute joint R9.

[0028] like Figure 3 and Figure 4 As shown, the axis of rotation of the first panel 1 on the hinge component 10 is perpendicular to the axis of rotation of the center panel 7. The universal hinge 11 is structured such that the axis of rotation of the first panel 1 and the axis of rotation of the second panel 2 are rotatably connected by a universal joint. The first rotating joint R1, the second rotating joint R2, the fourth rotating joint R4, the fifth rotating joint R5, the eighth rotating joint R8, and the ninth rotating joint R9 are all convex creases, and the hinge joints of the convex creases are located on the first end face of the connecting panel. The third rotating joint R3, the sixth rotating joint R6, and the seventh rotating joint R7 are all concave creases, and the hinge joints of the concave creases are located on the second end face of the connecting panel. The rotation angle range of both the convex and concave creases is within 180°, and the rotation directions of the convex and concave creases are opposite. Servo motor 8 drives the ninth rotary joint R9 to rotate, changing the included angle between the adjacent sixth panel 6, thereby causing each panel to close in sequence, and then locking the robotic arm 12 to keep each panel in relative position, forming an ellipsoidal thin-walled structure to quickly achieve the closing and grasping action.

[0029] like Figure 5 As shown, the connecting edges m2a3 and m2b3 between the first panel 1 and the center panel 7 are chamfered, and the thickness of the second panel 2 is half the thickness of the center panel 7, so that the second panel 2, the third panel 3, and the fourth panel 4 overlap in the extended state. The thickness of the fifth panel 5 is half the thickness of the center panel 7, so that the fifth panels 5 can be combined and their movement is in a non-interfering state.

[0030] like Figure 6 As shown, in the fully extended state, all panels are parallel to each other. The sum of the two opposite angles at the hinge point a5 of the second panel 2, the third panel 3, and the fourth panel 4 is 180°, i.e., ∠a4a5a8 + ∠a3a5a6 = ∠a3a5a4 + ∠a6a5a8 = 180°, ∠b4b5b8 + ∠b3b5b6 = ∠b3b5b4 + ∠b6b5b8 = 180°. The hinge point a5 of the third panel 3, the fourth panel 4, the fifth panel 5, and the sixth panel 6 is parallel to each other. At the confluence point a8, the sum of the two opposite angles is 180°, i.e., ∠a5a8m3 + ∠a7a8m4 = ∠a5a8a7 + ∠m3a8m4 = 180°, ∠b5b8m3 + ∠b7b8m4 = ∠b5b8b7 + ∠m3b8m4 = 180°, and the axis of the fourth revolute joint R4 coincides with the axis of the eighth revolute joint R8; in the fully closed state, the second panel 2, the third panel 3, and the fourth panel 4 overlap, and the fifth panel 5 and the sixth panel 6 overlap.

[0031] The working process of the spatial capture robot based on bistable origami in this invention is as follows:

[0032] like Figures 1-6As shown, in the extended state, the servo motor 8 drives the shaft of the ninth rotary joint R9 to rotate, causing the adjacent sixth panel 6 to move closer together. The sixth panel 6 then drives the fourth panel 4 to move via a flexible hinge. Other energy besides the movement of each panel is accumulated through its own elastic deformation. When the stored energy reaches its maximum, it is rapidly released, locking the fourth panel 4 and the fifth panel 5 as the panels rapidly close, until the second panel 2 overlaps with the fourth panel 4. The planes of the second panel 2 and the third panel 3 are parallel to the plane of the fourth panel 4, and the adjacent first panel 1 moves to retract. The servo motor 8 drives all the panels to retract, and then drives the robotic arm 12 to bring the panels closer together. The robotic arm 12 is locked to maintain the relative position. The robotic arm 12 drives the symmetrically arranged origami structure to achieve a 180° flip. During the flip, the servo motor 8 drives the movement of each panel until the two symmetrically arranged origami structures are close to each other, so that the robotic arm 12 is fixed on the carrier to maintain the relative position unchanged. This forms an ellipsoidal thin-walled structure to quickly achieve the grasping action. It has the advantages of fast grasping response speed, light weight, high retraction ratio and high capture efficiency, and is used for non-cooperative target capture in space.

[0033] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A spatial capture robot based on bistable origami, characterized in that, It includes a first panel, a second panel, a third panel, a fourth panel, a fifth panel, a sixth panel, a center panel, a servo motor, and a robotic arm. The first panel, the second panel, the third panel, the fourth panel, the fifth panel, and the sixth panel are symmetrically arranged around the center panel, with the diagonal of the center panel as the axis of symmetry. Adjacent panels are hinged together by creases, and multiple panels are hinged together in sequence. The robotic arm is connected to the center of the center panel. The symmetrically arranged first panels are connected by a first revolute joint. The first end of the first panel is rotatably connected to the first end of the second panel via a connecting rod. The second end of the first panel is rotatably connected to the second end of the second panel via a universal hinge. The symmetrically arranged first panels are rotatably connected to the center panel via a hinge. The second panel is connected to the fourth panel via a second revolute joint. The third panel is connected to the center panel via a third revolute joint. The fourth panel is connected to the third panel via a fourth revolute joint. The fifth panel is connected to the third panel via a fifth revolute joint. The fourth panel is connected to the sixth panel via a sixth revolute joint. The symmetrically arranged fifth panels are connected by a seventh revolute joint. The fifth panel is connected to the sixth panel via an eighth revolute joint. The symmetrically arranged sixth panels are connected by a ninth revolute joint. The servo motor is connected to the shaft of the ninth revolute joint. The servo drives the shaft of the ninth rotary joint to rotate, changing the included angle between the adjacent sixth panels, thereby causing each panel to close in sequence. Then, by locking the robotic arm, the panels are kept in relative positions, forming an ellipsoidal thin-walled structure to quickly achieve the closing and grasping action. In the fully extended state, the panels are parallel to each other, and the sum of the two opposite angles at the hinge intersection of the second, third, and fourth panels is 180°, the sum of the two opposite angles at the hinge intersection of the third, fourth, fifth, and sixth panels is 180°, and the axis of the fourth rotary joint coincides with the axis of the eighth rotary joint; in the fully closed state, the second, third, and fourth panels overlap, and the fifth and sixth panels overlap.

2. The spatial capture robot based on bistable origami according to claim 1, characterized in that, The first, second, fourth, fifth, eighth, and ninth rotary joints all have convex creases, and the hinge joints of the convex creases are disposed on the first end face of the connecting panel.

3. The spatial capture robot based on bistable origami according to claim 1, characterized in that, The third, sixth, and seventh rotary joints are all concave creases, and the hinge joints of the concave creases are located on the second end face of the connecting panel.

4. The spatial capture robot based on bistable origami according to claim 3, characterized in that, The convex and concave creases both have a rotation range of 180°, and the rotation directions of the convex and concave creases are opposite.

5. The spatial capture robot based on bistable origami according to claim 1, characterized in that, The first panel, the second panel, the third panel, the sixth panel, and the center panel are all quadrilateral structures, while the fifth panel is a triangular structure.

6. The spatial capture robot based on bistable origami according to claim 1, characterized in that, The connection edge between the first panel and the center panel is chamfered, and the thickness of the second panel is half the thickness of the center panel, so that the second panel, the third panel and the fourth panel overlap in the extended state.

7. The spatial capture robot based on bistable origami according to claim 1, characterized in that, The thickness of the fifth panel is half the thickness of the central panel, so that the fifth panels can be combined and move in a non-interfering state.

8. The spatial capture robot based on bistable origami according to claim 1, characterized in that, The axis of rotation of the first panel on the hinge is perpendicular to the axis of rotation of the center panel.

9. The spatial capture robot based on bistable origami according to claim 1, characterized in that, The universal hinge structure is as follows: the pivot of the first panel and the pivot of the second panel are rotatably connected by a universal joint.

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