A space modular reconfigurable truss manipulator system and application method

Abstract

A kind of space modular reconfigurable truss type manipulator system and application method, including base and several modular truss type operating arms;The modular truss type operating arm one end is fixedly connected with base;The mechanism module unit is multi-loop mechanism, is composed of dynamic platform, rope, vertical rod, composite hinge, telescopic rod and static platform;The dynamic platform of the mechanism module unit is triangular platform, three edges of triangular platform are connected with three vertical rods of mechanism module unit upper end by rotating pair respectively, three vertical rods of mechanism module unit upper end are connected with the upper end of three composite hinges respectively, three telescopic rods are connected with three composite hinges two by two, the mechanism module unit used in the application is multi-loop mechanism, compared with prior art has better stiffness mass ratio, capture ability is strong;Volume is small after folding, truss type structure mass is small;Various capture configurations can be realized, and capture adaptability and fault tolerance are good.

Description

Technical Field

[0001] This invention belongs to the field of space mechanism-structure system design, and particularly relates to a space modular reconfigurable truss manipulator system and its application method. Background Technology

[0002] Tracking and capturing non-cooperative targets in space is the technological foundation for missions such as space debris recovery and the repair and maintenance of out-of-control satellites. Currently, most space capture manipulators consist of articulated robotic arms with dedicated docking mechanisms at their ends, or multiple articulated robotic arms forming a mechanical gripper to capture space targets. Typical examples include the Canada Arm, the Canada Hand, and the Japanese Remote Control System. However, these rigid robotic arms are prone to collisions; their small moment of inertia and poor rigidity make them susceptible to space flutter during space capture missions, significantly impacting operational accuracy. Summary of the Invention

[0003] This invention aims to solve the above problems and provides a spatial modular reconfigurable gantry manipulator system and its application method, which features a large operating range, good system rigidity, small folding space, and high execution accuracy.

[0004] In a first aspect, the present invention discloses a spatial modular reconfigurable truss manipulator system, comprising a base and a plurality of modular truss manipulators; one end of each modular truss manipulator is fixedly connected to the base; the modular truss manipulators are distributed in an equally spaced circular pattern on the base; The modular truss-type operating arm is composed of several mechanical module units connected sequentially from bottom to top; The mechanism module unit is a multi-ring mechanism, consisting of a moving platform, ropes, vertical rods, composite hinges, telescopic rods, and a static platform; Among them, the moving platform of the lower mechanism module unit serves as the static platform of the upper mechanism module unit connected to it; The moving platform of the mechanism module unit is a triangular platform. The three sides of the triangular platform are connected to the three vertical rods at the upper end of the mechanism module unit through revolute joints. The three vertical rods at the upper end of the mechanism module unit are connected to the upper ends of three composite hinges. The three telescopic rods are connected to the three composite hinges in pairs. The three vertical rods at the lower end of the mechanism module unit are connected to the lower ends of the three composite hinges. Then, the three vertical rods at the lower end of the mechanism module unit are connected to the three sides of the stationary platform of the mechanism module unit through revolute joints. The two ends of the six ropes at the upper end of the mechanism module unit are respectively connected to the three endpoints of the moving platform and the upper end of the composite hinge. One end of every two ropes is connected to one endpoint of the moving platform, and the other ends of the two ropes connected to that endpoint are respectively connected to the upper ends of the two composite hinges adjacent to that endpoint. The two ends of the six ropes at the lower end of the mechanism module unit are respectively connected to the three endpoints of the stationary platform and the lower end of the composite hinge. One end of every two ropes is connected to one endpoint of the stationary platform, and the other ends of the two ropes connected to that endpoint are respectively connected to the lower ends of the two composite hinges adjacent to that endpoint. The telescopic rod is positioned between two adjacent composite hinges to enable telescopic movement.

[0005] Furthermore, in the spatial modular reconfigurable truss manipulator system of the present invention, the composite hinge is composed of an upper screw, an upper arc-shaped pad, an upper ball joint outer tangent, an upper ball joint inner tangent, a left connection, a central cylinder, an upper arc-shaped guide rail, a right connection, a lower arc-shaped guide rail, a lower ball joint inner tangent, a lower ball joint outer tangent, a lower arc-shaped pad, and a lower screw; The central cylinder passes through the left and right connectors, and the left and right connectors cooperate to form a rotating pair. The central cylinder is fixedly connected to the inner tangent of the upper ball joint. The top of the inner tangent of the upper ball joint is a convex spherical surface that mates with the inner surface of the upper arc-shaped guide rail. The outer tangent of the upper ball joint is fixedly connected to the inner tangent of the upper ball joint. The inner surface of the outer tangent of the upper ball joint is a concave spherical surface that mates with the outer surface of the upper arc-shaped guide rail. The upper screw passes through the end through hole of the upper arc-shaped guide rail and the upper arc-shaped pad, and cooperates with the upper arc-shaped guide rail to form a rotating pair; The central cylinder is fixedly connected to the inner tangent of the lower ball joint. The top of the inner tangent of the lower ball joint is a convex spherical surface that mates with the inner surface of the lower arc-shaped guide rail. The outer tangent of the lower ball joint is fixedly connected to the inner tangent of the lower ball joint. The inner surface of the outer tangent of the lower ball joint is a concave spherical surface that mates with the outer surface of the lower arc-shaped guide rail. The lower screw passes through the through hole at the end of the lower arc-shaped guide rail and the lower arc-shaped pad, and mates with the lower arc-shaped guide rail to form a rotating pair. The upper ball joint outer tangent, the upper ball joint inner tangent, and the upper arc-shaped guide rail cooperate to generate two rotating joints with intersecting rotation axes, which also intersect with the rotation axis of the upper screw, together forming the ball joint motion; The lower ball joint outer tangent, the lower ball joint inner tangent, and the lower arc-shaped guide rail cooperate to generate two rotating joints with intersecting rotation axes, which also intersect with the rotation axis of the lower screw, together forming the ball joint motion; The two ends of the telescopic rod are respectively connected to the left connection of a composite hinge and the right connection of an adjacent composite hinge.

[0006] Furthermore, in the spatial modular reconfigurable truss manipulator system of the present invention, the vertical rod is made of carbon fiber; the use of carbon fiber rods is low in cost, light in weight, has good rigidity, and strong environmental adaptability.

[0007] Furthermore, in the spatial modular reconfigurable truss manipulator system of the present invention, the base is circular, so that the manipulator system can form an optimal capture envelope when performing capture tasks.

[0008] Furthermore, the spatial modular reconfigurable truss manipulator system of the present invention has eight modular truss manipulators, which, while achieving multiple capture configurations, are evenly distributed to form circumferential symmetry, thus exhibiting excellent fault tolerance and envelopment.

[0009] Furthermore, the spatial modular reconfigurable truss manipulator system of the present invention comprises three mechanical module units connected sequentially from bottom to top.

[0010] Secondly, the present invention discloses an application method of the spatial modular reconfigurable truss manipulator system according to the first aspect. The spatial modular reconfigurable truss manipulator system can realize a variety of capture configuration changes, and can be implemented in different capture targets as a folded posture, an extended posture, an octopus-like eight-finger capture configuration, a symmetrical four-finger capture configuration, a double-pincer four-finger capture configuration, an eagle-claw-like four-finger capture configuration, a crab-claw-like two-finger capture configuration, and an elephant trunk-like single-finger capture configuration.

[0011] Compared with the prior art, the present invention has the following advantages: 1. The mechanism module unit used in this invention is a multi-ring mechanism, which has a better stiffness-to-mass ratio and stronger capture capability compared with existing conventional technologies; 2. The present invention has a small folded volume and a lightweight truss structure; 3. This invention can achieve various capture configuration changes, and has good capture adaptability and fault tolerance. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the spatial modular reconfigurable truss manipulator system described in an embodiment of the present invention; Figure 2 This is a structural diagram of the three-module multi-ring mechanism operating arm described in an embodiment of the present invention; Figure 3 This is a structural diagram of the mechanism module unit described in an embodiment of the present invention; Figure 4 This is a structural diagram of the composite hinge described in an embodiment of the present invention; Figure 5 This is a folding posture diagram of the multi-ring mechanism module unit described in an embodiment of the present invention; Figure 6 This is a bending posture diagram of the multi-ring mechanism module unit described in an embodiment of the present invention; Figure 7 This is a schematic diagram of the spatial modular reconfigurable truss-type manipulator capture configuration described in an embodiment of the present invention; Among them, 1-base, 2-modular truss-type operating arm, 3-mechanical module unit, 4-moving platform, 5-rope, 6-vertical rod, 7-composite hinge, 8-telescopic rod, 9-static platform, 10-upper end screw, 11-upper end arc-shaped pad, 12-upper end ball joint outer tangent, 13-upper end ball joint inner tangent, 14-left connection, 15-central cylinder, 16-upper end arc-shaped guide rail, 17-right connection, 18-lower end arc-shaped guide rail, 19-lower end ball joint inner tangent, 20-lower end ball joint outer tangent, 21-lower end arc-shaped pad, 22-lower end screw. Detailed Implementation

[0013] The spatial modular reconfigurable truss manipulator system and its application method described in this invention will be explained in detail below with reference to the accompanying drawings and embodiments.

[0014] Example 1 This embodiment discloses a spatial modular reconfigurable truss-type robotic arm system, such as... Figure 1 As shown, it consists of a circular base 1 and eight sets of modular truss-type manipulators 2. The circular base 1 is fixed to the spacecraft, and one end of the modular truss-type manipulator 2 is fixed to the circular base 1. The eight sets of modular truss-type manipulators 2 are evenly distributed in a circle on the circular base 1, that is, every two sets of modular truss-type manipulators 2 form a 45° angle with the center of the circular base 1.

[0015] In the embodiments disclosed herein, such as Figure 2 The modular truss-type operating arm 2 shown is composed of three mechanism module units 3 connected sequentially from bottom to top. The moving platform 4 of the lower mechanism module unit 3 serves as the stationary platform 9 of the upper mechanism module unit 3 to which it is connected. The three multi-ring mechanism module units 3 are connected sequentially, as shown below. Figure 2 As shown, the static platform 9 of the bottommost mechanism module unit is connected to the circular base 1, the moving platform 4 of the bottommost mechanism module unit serves as the static platform 9 of the middle mechanism module unit, the moving platform 4 of the middle mechanism module unit serves as the static platform 9 of the topmost mechanism module unit, and the moving platform 4 of the topmost mechanism module unit is the free end; based on the multi-ring mechanism module unit 3, it can realize the unfolding posture and the bending posture, so the multi-ring mechanism modular operating arm can realize the folding and bending functions.

[0016] like Figure 3The mechanism module unit 3 shown is a multi-ring mechanism, consisting of a moving platform 4, ropes 5, vertical rods 6, compound hinges 7, telescopic rods 8, and a stationary platform 9. The moving platform 4 of the mechanism module unit 3 is a triangular platform. The three sides of the triangular platform are connected to the three vertical rods 6 at the upper end of the mechanism module unit 3 via revolute joints. The three vertical rods 6 at the upper end of the mechanism module unit 3 are connected to the upper ends of the three compound hinges 7. The three telescopic rods 8 are connected to the three compound hinges 7 in pairs. Furthermore, the three vertical rods 6 at the lower end of the mechanism module unit 3 are connected to the lower ends of the three compound hinges 7. Subsequently, the three vertical rods 6 at the lower end of the mechanism module unit 3 are connected to the three sides of the stationary platform 9 of the mechanism module unit 3 via revolute joints.

[0017] like Figure 3 As shown, the two ends of the six ropes 5 at the upper end of the mechanism module unit 3 are respectively connected to the three endpoints of the moving platform 4 and the upper end of the composite hinge 7. One end of every two ropes 5 is connected to one endpoint of the moving platform 4, and the other ends of the two ropes 5 connected to that endpoint are respectively connected to the upper ends of the two adjacent composite hinges 7. The two ends of the six ropes 5 at the lower end of the mechanism module unit 3 are respectively connected to the three endpoints of the stationary platform 9 and the lower end of the composite hinge 7. One end of every two ropes 5 is connected to one endpoint of the stationary platform 9, and the other ends of the two ropes 5 connected to that endpoint are respectively connected to the lower ends of the two adjacent composite hinges 7. The telescopic rod 8 is disposed between two adjacent composite hinges 7 to realize telescopic movement.

[0018] like Figure 4As shown, the composite hinge 7 consists of an upper screw 10, an upper arc-shaped washer 11, an upper ball joint outer tangent 12, an upper ball joint inner tangent 13, a left connector 14, a central cylinder 15, an upper arc-shaped guide rail 16, a right connector 17, a lower arc-shaped guide rail 18, a lower ball joint inner tangent 19, a lower ball joint outer tangent 20, a lower arc-shaped washer 21, and a lower screw 22; the central cylinder 15 passes through the left connector 14 and the right connector 17, and the left connector 14 and the right connector 17 fit together to form a... A rotating joint is formed; the central cylinder 15 is fixedly connected to the inner tangent part 13 of the upper ball joint, the top end of the inner tangent part 13 is a convex spherical surface, which mates with the inner surface of the upper arc-shaped guide rail 16, and is fixedly connected to the outer tangent part 12 of the upper ball joint and the inner tangent part 13 of the upper ball joint, the inner surface of the outer tangent part 12 of the upper ball joint is a concave spherical surface, which mates with the outer surface of the upper arc-shaped guide rail 16; the upper screw 10 passes through the through hole at the end of the upper arc-shaped guide rail 16 and the upper arc-shaped washer 11, and is connected to the upper arc-shaped guide rail 16. A rotating joint is formed by the following components: the central cylinder 15 is fixedly connected to the inner tangent part 19 of the lower ball joint; the top of the inner tangent part 19 is a convex spherical surface that mates with the inner surface of the lower arc-shaped guide rail 18; the outer tangent part 20 of the lower ball joint is fixedly connected to the inner tangent part 19; the inner surface of the outer tangent part 20 is a concave spherical surface that mates with the outer surface of the lower arc-shaped guide rail 18; the lower screw 22 passes through the through hole at the end of the lower arc-shaped guide rail 18 and the lower arc-shaped washer 21, and is connected to the lower arc-shaped guide rail 18. 8. The upper ball joint outer tangent 12, upper ball joint inner tangent 13, and upper arc-shaped guide rail 16 cooperate to generate two revolute joints with intersecting rotation axes, which also intersect with the rotation axis of the upper screw 10, thus forming the ball joint motion; the lower ball joint outer tangent 20, lower ball joint inner tangent 19, and lower arc-shaped guide rail 18 cooperate to generate two revolute joints with intersecting rotation axes, which also intersect with the rotation axis of the lower screw 22, thus forming the ball joint motion.

[0019] like Figure 3 , Figure 4 As shown, the two ends of the telescopic rod 8 are respectively connected to the left connection 14 of a composite hinge 7 and the right connection 17 of another adjacent composite hinge 7.

[0020] In the embodiments disclosed herein, such as Figure 3 The multi-ring mechanism module unit 3 shown consists of a moving platform 4, a stationary platform 9, and a coupling loop connecting the moving and stationary platforms 9. This multi-ring mechanism module unit 3 has three degrees of freedom, including two rotational degrees of freedom and one translational degree of freedom, thus enabling the multi-ring mechanism module unit 3 to achieve folding and bending postures, such as... Figure 5 , Figure 6 As shown; the multi-ring mechanism module unit 3 has a symmetrical structure along the middle plane; the multi-ring mechanism module unit 3 adopts a truss mechanism form, which has the characteristics of light weight and good rigidity, wherein the rods in this embodiment are carbon fiber rods.

[0021] Example 2 Based on the spatial modular reconfigurable truss-type manipulator system described in Embodiment 1, this embodiment allows for various capture configuration changes in specific applications. It exhibits excellent capture adaptability for targets of different sizes, shapes, and types, and can achieve various morphological changes such as folded posture, extended posture, octopus-like eight-finger capture configuration, symmetrical four-finger capture configuration, double-pincer four-finger capture configuration, eagle-claw-like four-finger capture configuration, crab-pincer-like two-finger capture configuration, and elephant-trunk-like single-finger capture configuration. Figure 7 The above, Figure 7 (a) shows the folding posture of the robotic arm system. Figure 7 (b) is the extended posture of the robotic arm. Figure 7 (c) is a robotic arm with an eight-fingered capture configuration similar to an octopus. Figure 7 (d) is a symmetrical four-finger capture configuration for a robotic arm. Figure 7 (e) is a dual-clamp four-finger capture configuration for robotic arms. Figure 7 (f) is a robotic arm with a four-finger capture configuration similar to an eagle's claw. Figure 7 (g) is a two-finger grasping configuration similar to crab claws for robotic arms. Figure 7 (h) is a single-finger capture configuration of the robotic arm, mimicking the trunk of an elephant.

[0022] The space modular reconfigurable truss manipulator system described in this invention has advantages such as a large operating range, good system rigidity, small folding space, and high execution accuracy. In the implementation of space non-cooperative target capture missions, it can flexibly envelop the target to prevent it from escaping. Through intelligent control of the manipulator, it can greatly improve the adaptive capture performance of non-cooperative targets. It can also recover space debris and perform spacecraft repair and maintenance, which has great strategic significance.

Claims

1. A spatial modular reconfigurable truss-type manipulator system, characterized in that: It includes a base and several modular truss-type operating arms; one end of each modular truss-type operating arm is fixedly connected to the base; the modular truss-type operating arms are distributed in an equally spaced circular pattern on the base; The modular truss-type operating arm is composed of several mechanical module units connected sequentially from bottom to top; The mechanism module unit is a multi-ring mechanism, consisting of a moving platform, ropes, vertical rods, composite hinges, telescopic rods, and a static platform; Among them, the moving platform of the lower mechanism module unit serves as the static platform of the upper mechanism module unit connected to it; The moving platform of the mechanism module unit is a triangular platform. The three sides of the triangular platform are connected to the three vertical rods at the upper end of the mechanism module unit through revolute joints. The three vertical rods at the upper end of the mechanism module unit are connected to the upper ends of three composite hinges. The three telescopic rods are connected to the three composite hinges in pairs. The three vertical rods at the lower end of the mechanism module unit are connected to the lower ends of the three composite hinges. Then, the three vertical rods at the lower end of the mechanism module unit are connected to the three sides of the stationary platform of the mechanism module unit through revolute joints. The two ends of the six ropes at the upper end of the mechanism module unit are respectively connected to the three endpoints of the moving platform and the upper end of the composite hinge. One end of every two ropes is connected to one endpoint of the moving platform, and the other ends of the two ropes connected to that endpoint are respectively connected to the upper ends of the two composite hinges adjacent to that endpoint. The two ends of the six ropes at the lower end of the mechanism module unit are respectively connected to the three endpoints of the stationary platform and the lower end of the composite hinge. One end of every two ropes is connected to one endpoint of the stationary platform, and the other ends of the two ropes connected to that endpoint are respectively connected to the lower ends of the two composite hinges adjacent to that endpoint. The telescopic rod is positioned between two adjacent composite hinges to enable telescopic movement.

2. The spatial modular reconfigurable truss manipulator system according to claim 1, characterized in that: The composite hinge consists of an upper screw, an upper arc-shaped washer, an upper ball joint outer tangent, an upper ball joint inner tangent, a left connector, a central cylinder, an upper arc-shaped guide rail, a right connector, a lower arc-shaped guide rail, a lower ball joint inner tangent, a lower ball joint outer tangent, a lower arc-shaped washer, and a lower screw. The central cylinder passes through the left and right connectors, and the left and right connectors cooperate to form a rotating pair. The central cylinder is fixedly connected to the inner tangent of the upper ball joint. The top of the inner tangent of the upper ball joint is a convex spherical surface that mates with the inner surface of the upper arc-shaped guide rail. The outer tangent of the upper ball joint is fixedly connected to the inner tangent of the upper ball joint. The inner surface of the outer tangent of the upper ball joint is a concave spherical surface that mates with the outer surface of the upper arc-shaped guide rail. The upper screw passes through the end through hole of the upper arc-shaped guide rail and the upper arc-shaped pad, and cooperates with the upper arc-shaped guide rail to form a rotating pair; The central cylinder is fixedly connected to the inner tangent of the lower ball joint. The top of the inner tangent of the lower ball joint is a convex spherical surface that mates with the inner surface of the lower arc-shaped guide rail. The outer tangent of the lower ball joint is fixedly connected to the inner tangent of the lower ball joint. The inner surface of the outer tangent of the lower ball joint is a concave spherical surface that mates with the outer surface of the lower arc-shaped guide rail. The lower screw passes through the through hole at the end of the lower arc-shaped guide rail and the lower arc-shaped pad, and mates with the lower arc-shaped guide rail to form a rotating pair. The upper ball joint outer tangent, the upper ball joint inner tangent, and the upper arc-shaped guide rail cooperate to generate two rotating joints with intersecting rotation axes, which also intersect with the rotation axis of the upper screw, together forming the ball joint motion; The lower ball joint outer tangent, the lower ball joint inner tangent, and the lower arc-shaped guide rail cooperate to generate two rotating joints with intersecting rotation axes, which also intersect with the rotation axis of the lower screw, together forming the ball joint motion; The two ends of the telescopic rod are respectively connected to the left connection of a composite hinge and the right connection of an adjacent composite hinge.

3. The spatial modular reconfigurable truss manipulator system according to claim 2, characterized in that: The vertical rod is made of carbon fiber.

4. The spatial modular reconfigurable truss manipulator system according to claim 3, characterized in that: The base is circular.

5. The spatial modular reconfigurable truss manipulator system according to claim 4, characterized in that: The modular truss-type operating arm is equipped with eight units.

6. The spatial modular reconfigurable truss manipulator system according to claim 5, characterized in that: The modular truss-type operating arm is composed of three mechanical module units connected sequentially from bottom to top.

7. An application method of the spatial modular reconfigurable truss manipulator system according to any one of claims 1-6, characterized in that: The spatial modular reconfigurable truss-type manipulator system can achieve various capture configuration changes, and can be implemented in different capture targets as folded posture, extended posture, octopus-like eight-finger capture configuration, symmetrical four-finger capture configuration, double-pincer four-finger capture configuration, eagle claw-like four-finger capture configuration, crab claw-like two-finger capture configuration, and elephant trunk-like single-finger capture configuration.

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