Multi-dimensional flexible buffer joint device suitable for space manipulator and control method of multi-dimensional flexible buffer joint device

Abstract

The invention provides a multi-dimensional flexible buffer joint device suitable for a space manipulator and a control method of the multi-dimensional flexible buffer joint device, the multi-dimensional flexible buffer joint device is formed by connecting a yawing rotating assembly, a pitching rotating assembly, a rolling rotating assembly and a translation assembly in series and parallel, and main body frames of the three rotating assemblies are perpendicular to one another. A rotating bearing, an adjustable damping device and an electromagnetic clutch device are integrated on the frame of each rotating assembly, and the adjustable damping devices and the electromagnetic clutch devices are symmetrically installed. The transverse rolling rotating assembly is connected with the translation assembly through a coupler, and sliding rails are reserved on the four faces of a rigid frame of the translation assembly. A guide wheel is arranged on a tail end cover plate of the translation assembly, and translation of the tail end cover plate is achieved. And a mounting hole for the capturing mechanism is reserved in the tail end cover plate, so that the manipulator is convenient to mount. The joint device can buffer collision impact force or torque generated in the in-orbit capturing task process in the space six-dimensional direction, and the vibration generated by collision is absorbed and restrained.

Description

Technical Field

[0001] The invention relates to the technical field of aerospace robots, and in particular to a multi-dimensional compliant buffer joint device suitable for a space robot arm and a control method thereof. Background Art

[0002] With the development and maturity of space robot technology, astronauts can directly operate robots to complete tasks such as maintenance and recovery of on-orbit satellites and cleaning of orbital garbage. These tasks require direct contact between the space robot and the target object. Since the base of the space robot is floating in space, a large contact collision force may damage the robot's contact capture device, or even cause the robot to roll over and lose control. In this context, how to buffer the impact of contact collision and make the contact process safe and controllable has become one of the hot issues in current research. The existing buffer compliance is achieved through active and passive compliance. Although great results have been achieved, there are still certain limitations.

[0003] At present, the compliance of space robots is mainly achieved based on the following two technical solutions: 1) Active compliance control: This technology uses the feedback information of the force through the robot and combines it with a specific control strategy to actively adjust the force. Active compliance has the advantages of high precision and strong controllability, but its actuators and controllers face high operating requirements in the complex electromagnetic environment of space. In addition, passive compliance control is difficult to implement, and the R&D and maintenance costs are relatively high.

[0004] 2) Passive compliance control: This technology achieves compliance by adding mechanical devices such as springs and dampers at the joint position. Compared with active compliance control, passive compliance control has no control mechanism, resulting in poor adaptability and inability to actively adjust the optimal contact posture of the capture mechanism. At the same time, the compliance of passive compliance depends on the design of the mechanical structure, and there are certain limitations in terms of accuracy and flexibility.

[0005] The main problems of these existing technologies include: complex structural design, high control difficulty, high R&D cost, etc. For the increasingly complex space mission requirements (such as space debris cleaning, non-cooperative spacecraft maintenance and recovery), the existing technical solutions are difficult to meet the needs. Summary of the invention

[0006] In view of this, the object of the present invention is to provide a multi-dimensional flexible buffer joint device suitable for a space robot arm and a control method thereof, wherein the joint device can buffer the collision impact force or torque generated during an on-orbit capture mission in six-dimensional directions in space, and absorb and suppress the vibration generated by the collision.

[0007] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a multi-dimensional flexible buffer joint device suitable for a space manipulator, comprising a flexible buffer joint, wherein the main body of the flexible buffer joint rigid frame forms a cross-axis pattern to realize omnidirectional rotation; the yaw joint rigid frame is integrated with a rotary magnetorheological damper with an encoder, a rotary electromagnetic clutch, a torsion spring and a rotating bearing, which together constitute a complete rotating pair; the yaw joint rigid frame also includes a moving pair, which is connected to the roll joint through a coupling, and its linear motion stability is realized by a combination of a linear magnetorheological damper, four slide rails and a guide wheel; the four slide rails include an upper slide rail, a lower slide rail, a left slide rail and a right slide rail; the inner tube of the linear magnetorheological damper is connected in parallel with a linear return spring to provide the necessary rebound force; it also includes an electromagnetic slider, which is symmetrically arranged and symmetrically installed on the left slide rail and the right slide rail to realize the locking of the linear displacement, and the lower slide rail is equipped with a displacement sensor for real-time monitoring of the linear displacement.

[0008] In a preferred embodiment: the rotary deflection magnetorheological damper (4) and the deflection electromagnetic clutch (6) are symmetrically mounted on the deflection joint rigid frame (1), a deflection joint torsion spring (8) is arranged between the deflection electromagnetic clutch (6) and the deflection joint rigid frame (1), and the rotary deflection magnetorheological damper (4) is equipped with an encoder to obtain the rotational motion state in real time.

[0009] In a preferred embodiment: the rotary pitch magnetorheological damper (5) and the pitch electromagnetic clutch (7) are symmetrically mounted on a pitch joint rigid frame (3) perpendicular to the deflection joint rigid frame (1); the deflection joint rigid frame (1) and the pitch joint rigid frame (3) form a cross structure; the pitch electromagnetic clutch (7) and the torsion joint rigid frame (11) are connected via a pitch joint torsion spring (9); the torsion joint rigid frame (11) and the pitch joint rigid frame (3) are arranged perpendicularly to form a cross structure.

[0010] In a preferred embodiment: the rotary roll magnetorheological damper (12) and the roll electromagnetic clutch (15) are symmetrically installed along the torsion axis direction, and the rotary roll magnetorheological damper (12) and the roll electromagnetic clutch (15) are connected in series using a first coupling (13); one end of the torsion joint torsion spring (14) is connected to the torsion joint rigid frame (11), and the other end of the torsion joint torsion spring (14) is connected to the rotary magnetorheological damper (12), so as to achieve energy conversion and buffering; the translation joint is connected to the roll electromagnetic clutch (15) via a second coupling (16), and the second coupling (16) and the roll electromagnetic clutch (15) achieve synchronous rotation.

[0011] In a preferred embodiment: one side of the linear magnetorheological damper (19) is fixedly connected to the rigid frame, and the other side of the linear magnetorheological damper (19) is combined with a movable end plate (27) to form a translation pair, and the movable end plate (27) is provided with an end effector interface (24) of the space manipulator to facilitate the integration of the manipulator; four sets of slide rails (21) and guide wheels (22) are installed on the joint rigid frame, wherein electromagnetic braking slide rails (25) are installed at symmetrical positions of the pitch motion axis to realize braking and stiffness adjustment of the linear motion of the translation pair; a grating ruler (26) is installed on the lower slide rail to sense the state of translation motion in real time and provide closed-loop control support for the capture process.

[0012] The present invention also provides a control method for a multi-dimensional compliant buffer joint device suitable for a space robot arm. The multi-dimensional compliant buffer joint device suitable for a space robot arm is used. The lower left corner of the joint mechanism device is subjected to an eccentric collision. Before the collision occurs, the electromagnetic brake slide rail (25), the deflection electromagnetic clutch (6), the pitch electromagnetic clutch (7), and the roll electromagnetic clutch (15) are firstly in a disconnected state, and the joint system enters a flexible mode. The eccentric collision firstly compresses the linear spring (23) and the linear magnetorheological damper (19). The linear spring (23) and the linear magnetorheological damper (19) generate a damping force. , buffering the collision; the impact force reaches the pitch structure component, the pitch electromagnetic clutch (7) and the pitch joint torsion spring (9) are rotated by the impact force, and the torsion joint rigid frame (11) swings downward; the rotary pitch magnetorheological damper (5) and the pitch joint torsion spring (9) absorb part of the impact; the impact force reaches the deflection structure component, the rotary deflection magnetorheological damper (4) and the deflection joint torsion spring (8) are rotated by the impact force, and the pitch joint rigid frame (3) rotates to the left; the rotary deflection magnetorheological damper (4) and the deflection joint torsion spring (8) absorb the impact; as a result, most of the vibration and impact force are absorbed.

[0013] The present invention also provides a control method for a multi-dimensional compliant buffer joint device suitable for a space robot arm. The multi-dimensional compliant buffer joint device suitable for a space robot arm is used. The lower left corner of the joint mechanism device is subjected to an eccentric torsional collision. Before the collision occurs, the electromagnetic brake slide rail (25), the deflection electromagnetic clutch (6), the pitch electromagnetic clutch (7), and the roll electromagnetic clutch (15) are firstly in a disconnected state, and the joint system enters a flexible mode. The axial component force of the eccentric collision first compresses the linear spring (23) and the linear magnetorheological damper (19). The linear spring (23) and the linear magnetorheological damper (19) generate a damping force to buffer the collision. The torque therein causes the translation joint rigid frame (18) to rotate, and the rotation of the translation joint rigid frame (18) drives the first The coupling (13) and the second first coupling (16) rotate, and the torsion joint torsion spring (14) and the roll electromagnetic clutch (15) generate a damping torque to buffer the twisting; the impact force reaches the pitch structure component, and the rotary pitch magnetorheological damper (5) and the pitch joint torsion spring (9) rotate under the impact force, and the torsion joint rigid frame (11) swings downward; the rotary pitch magnetorheological damper (5) and the pitch joint torsion spring (9) absorb the impact; the impact force reaches the deflection structure component, and the rotary deflection magnetorheological damper (4) and the deflection joint torsion spring (8) rotate under the impact force, and the pitch joint rigid frame (3) rotates to the left; the rotary deflection magnetorheological damper (4) and the deflection joint torsion spring (8) absorb the impact; thereby, most of the vibration and impact force are absorbed.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1) Simple structure and strong stability: The main body of the compliant joint is composed of four sets of kinematic pairs connected in series and parallel, and each kinematic pair is based on a rigid frame, which significantly reduces the overall complexity of the device. In terms of compliance, a highly stable magnetorheological damper is used in conjunction with a spring to achieve controllable damping of each joint movement, which can adapt to the complex and harsh space environment.

[0015] 2) Omnidirectional compliance and error compensation: The joint device has the rotational freedom of offset, pitch, and roll, as well as the translational freedom along the guide rail direction, which can adapt to the impact and collision of the six-dimensional force from space and achieve omnidirectional compliance. In addition, the multi-degree-of-freedom design enables the joint system to actively respond to eccentric collisions from non-cooperative targets in space and the robotic arm capture mechanism, and has the function of error compensation.

[0016] 3) Controllable damping and stiffness conversion: The flexibility of the joint system is mainly achieved through magnetorheological dampers. By applying current to the rotary magnetorheological damper and the linear DC variable damper, the damping torque and damping force can be accurately adjusted. In terms of structure, the damping device is also connected in parallel with the electromagnetic clutch device. When the system needs to switch to a high-stiffness working state, the electromagnetic clutch device can lock each moving pair to achieve rapid stiffness conversion.

[0017] 4) Motion state perception and hybrid compliance control: The joint system integrates encoders and displacement sensors, which can collect the motion state information of each kinematic pair, such as rotation angle, displacement, angular velocity and speed, in real time. Based on this information, the joint system can dynamically adjust the damping force or damping torque to achieve closed-loop control, thereby achieving hybrid compliance control.

[0018] 5) Good adaptability and modification potential: The joint system has three rotational degrees of freedom and one mobile degree of freedom, namely a 3R-1T structure. This structure can flexibly adjust the size parameters and control strategies of each joint according to the requirements of specific capture tasks, thus demonstrating strong adaptability and modification potential.

[0019] The present invention can fill the gap in the prior art, promote the development and progress of space robot technology, provide a new efficient and flexible solution for on-orbit capture, and has considerable application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Attached to the preferred embodiment of the present invention Figure 1 A schematic diagram of the structure of a compliant joint device connected to the end of a space robot mechanical arm and a capture mechanism provided by the present invention; Figure 2 A schematic diagram of the offset and pitch rotation assembly provided by the present invention; Figure 3 A schematic diagram of the structure of a rolling assembly provided by the present invention; Figure 4 A schematic diagram of the structure of the translational assembly provided by the present invention; In the figure: 1. Deflection joint rigid frame; 2. Frame support rod; 3. Pitch joint rigid frame; 4. Rotary deflection magnetorheological damper; 5. Rotary pitch magnetorheological damper; 6. Deflection electromagnetic clutch; 7. Pitch electromagnetic clutch; 8. Deflection joint torsion spring; 9. Pitch joint torsion spring; 10. Electromagnetic deflection clutch power output plate; 11. Torsion joint rigid frame; 12. Rotary magnetorheological damper roll; 13. First coupling; 14. Torsion joint torsion spring; 15. Roll electromagnetic clutch; 16. Second coupling; 17. Electromagnetic roll clutch power output plate; 18. Translation joint rigid frame; 19. Linear magnetorheological damper; 20. Linear magnetorheological damper inner tube; 21. Slide rail; 22. Guide wheel; 23. Linear spring; 24. End effector interface; 25. Electromagnetic brake slide; 26. Grating ruler 27. Movable end plate DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0023] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application; as used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0024] A multi-dimensional compliant buffer joint device suitable for space manipulators, reference Figure 1-4, including a compliant buffer joint, the main body of the compliant buffer joint and the rigid frame of the yaw joint form a cross-axis pattern to achieve omnidirectional rotation; the yaw joint rigid frame is integrated with a rotary magnetorheological damper with an encoder, a rotary electromagnetic clutch, a torsion spring and a rotating bearing, which together constitute a complete rotating pair; the yaw joint rigid frame also includes a moving pair, which is connected to the roll joint through a coupling, and its linear motion stability is achieved by a combination of a linear magnetorheological damper, four slide rails and guide wheels; the four slide rails include an upper slide rail, a lower slide rail, a left slide rail and a right slide rail; the inner tube of the linear magnetorheological damper is connected in parallel with a linear return spring to provide the necessary rebound force; it also includes an electromagnetic slider, which is symmetrically arranged and symmetrically installed on the left slide rail and the right slide rail to achieve locking of linear displacement, and the lower slide rail is equipped with a displacement sensor for real-time monitoring of linear displacement.

[0025] The rotary deflection magnetorheological damper 4 and the deflection electromagnetic clutch 6 are symmetrically installed on the deflection joint rigid frame 1. A deflection joint torsion spring 8 is arranged between the deflection electromagnetic clutch 6 and the deflection joint rigid frame 1. At the same time, the rotary deflection magnetorheological damper 4 is equipped with an encoder to obtain the rotational motion state in real time.

[0026] The rotary pitch magnetorheological damper 5 and the pitch electromagnetic clutch 7 are symmetrically installed on the pitch joint rigid frame 3 which is perpendicular to the deflection joint rigid frame 1. The deflection joint rigid frame 1 and the pitch joint rigid frame 3 form a cross structure. The pitch electromagnetic clutch 7 and the torsion joint rigid frame 11 are connected through the pitch joint torsion spring 9. The torsion joint rigid frame 11 and the pitch joint rigid frame 3 are arranged perpendicularly to form a cross structure.

[0027] The rotary roll magnetorheological damper 12 and the roll electromagnetic clutch 15 are installed symmetrically along the torsion axis direction, and the rotary roll magnetorheological damper 12 and the roll electromagnetic clutch 15 are connected in series using a first coupling 13; one end of the torsion joint torsion spring 14 is connected to the torsion joint rigid frame 11, and the other end of the torsion joint torsion spring 14 is connected to the rotary magnetorheological damper 12 to realize energy conversion and buffering; the translational joint is connected to the roll electromagnetic clutch 15 through the second coupling 16, and the second coupling 16 and the roll electromagnetic clutch 15 realize synchronous rotation.

[0028] One side of the linear magnetorheological damper 19 is fixedly connected to the rigid frame, and the other side of the linear magnetorheological damper 19 is combined with the movable end plate 27 to form a translation pair. The movable end plate 27 is provided with an end effector interface 24 of the space manipulator, which is convenient for the integration of the manipulator; four sets of slide rails 21 and guide wheels 22 are installed on the joint rigid frame, among which electromagnetic braking slide rails 25 are installed at symmetrical positions of the pitch motion axis to realize the braking and stiffness adjustment of the linear motion of the translation pair; a grating scale 26 is installed on the lower slide rail, which can sense the state of translation motion in real time and provide closed-loop control support for the capture process.

[0029] The final performance index of the present invention is as follows: (1) The total axial length of the omnidirectional compliant joint is 400 mm; (2) The maximum radial radius of the compliant joint mechanism is 28 mm; (3) The total mass of the compliant joint mechanism is within 15 kg; (4) The compliant joint has three rotational degrees of freedom: yaw, pitch, and roll. Each degree of freedom can realize rotation and locking functions, thereby supporting the pitch, yaw, and torsion movement of the end manipulator in space. The limit amplitude of each rotational degree of freedom is ±30°, ±30°, and ±45° respectively; (5) The joint has a translational degree of freedom along the guide rail, which can realize the telescopic function of the end manipulator, and the working stroke of linear motion is ±60mm; (6) The joint mechanism integrates encoders and displacement sensors, and has the ability to measure and sense deflection, displacement, angular velocity, and speed in real time.

[0030] The overall design concept diagram of the joint is shown in Figure 1. The end of the compliant joint is designed as the mounting interface of the manipulator. When performing grasping tasks, the manipulator will be impacted by contact forces or contact torques from different directions. These forces and torques can be decomposed into contact forces (Fx, Fy, Fz) along the three coordinate axes in the spatial Cartesian coordinate system and contact torques (Mx, My, Mz) around the three coordinate axes. Under the action of external forces, the contact force or torque will be transmitted to the compliant joint, and the kinematic pair in the joint will assist the manipulator to achieve multi-degree-of-freedom combined motions such as torsion, extension, pitch, and yaw. Under the action of collision force Fy or collision moment My, the compliant joint system will cause linear motion of the translation joint or rotation of the roll joint, achieving the purpose of buffering; under the influence of action force Fx or action moment Mz, the yaw joint will produce a rotation effect, and the movement of the yaw joint will also produce centripetal force to cause the movement of the translation joint, producing a composite compliant effect; similarly, applying external load Fz or external moment Mx, the pitch joint rotates, and the centripetal force at the same time as the pitch joint rotates will cause the translation joint to produce a linear motion effect, achieving composite buffering and vibration reduction. Therefore, this design can realize the functions of multi-dimensional buffering, error compensation, vibration absorption and suppression, and can unload the collision force and moment from all directions in space.

[0031] The present invention also provides a control method for a multi-dimensional compliant buffer joint device suitable for a space manipulator, wherein the multi-dimensional compliant buffer joint device suitable for a space manipulator is used, and the lower left corner of the joint mechanism device is subjected to an eccentric collision; before the collision occurs, the electromagnetic brake slide 25, the deflection electromagnetic clutch 6, the pitch electromagnetic clutch 7, and the roll electromagnetic clutch 15 are firstly in a disconnected state, and the joint system enters a flexible mode; the eccentric collision first compresses the linear spring 23 and the linear magnetorheological damper 19; the linear spring 23 and the linear magnetorheological damper 19 generate a damping The impact force comes to the pitch structure component, the pitch electromagnetic clutch 7 and the pitch joint torsion spring 9 rotate under the impact force, and the torsion joint rigid frame 11 swings downward; the rotary pitch magnetorheological damper 5 and the pitch joint torsion spring 9 absorb part of the impact; the impact force comes to the deflection structure component, the rotary deflection magnetorheological damper 4 and the deflection joint torsion spring 8 rotate under the impact force, and the pitch joint rigid frame 3 rotates to the left; the rotary deflection magnetorheological damper 4 and the deflection joint torsion spring 8 absorb the impact; as a result, most of the vibration and impact force are absorbed.

[0032] The present invention also provides a control method for a multi-dimensional compliant buffer joint device suitable for a space manipulator, using the multi-dimensional compliant buffer joint device suitable for a space manipulator, the lower left corner of the joint mechanism device is subjected to an eccentric torsional collision; before the collision occurs, the electromagnetic brake slide 25, the deflection electromagnetic clutch 6, the pitch electromagnetic clutch 7, and the roll electromagnetic clutch 15 are first in a disconnected state, and the joint system enters a flexible mode; the axial component of the eccentric collision first compresses the linear spring 23 and the linear magnetorheological damper 19; the linear spring 23 and the linear magnetorheological damper 19 generate a damping force to buffer the collision; the torque therein causes the rigid frame 18 of the translational joint to rotate, and the rotation of the rigid frame 18 of the translational joint It drives the first coupling 13 and the second first coupling 16 to rotate, and the torsion joint torsion spring 14 and the roll electromagnetic clutch 15 generate a damping torque to buffer the twisting; the impact force comes to the pitch structure assembly, and the rotary pitch magnetorheological damper 5 and the pitch joint torsion spring 9 rotate under the impact force, and the torsion joint rigid frame 11 swings downward; the rotary pitch magnetorheological damper 5 and the pitch joint torsion spring 9 absorb the impact; the impact force comes to the deflection structure assembly, and the rotary deflection magnetorheological damper 4 and the deflection joint torsion spring 8 rotate under the impact force, and the pitch joint rigid frame 3 rotates to the left; the rotary deflection magnetorheological damper 4 and the deflection joint torsion spring 8 absorb the impact; as a result, most of the vibration and impact force are absorbed.

Claims

1. A multi-dimensional compliant buffer joint device suitable for a space robot arm, characterized in that: It includes a compliant buffer joint, the main body of the compliant buffer joint and the rigid frame of the yaw joint form a cross-axis pattern to achieve omnidirectional rotation; the yaw joint rigid frame is integrated with a rotary magnetorheological damper with an encoder, a rotary electromagnetic clutch, a torsion spring and a rotating bearing, which together constitute a complete rotating pair; the yaw joint rigid frame also includes a moving pair, which is connected to the roll joint through a coupling, and its linear motion stability is achieved by a combination of a linear magnetorheological damper, four slide rails and guide wheels; the four slide rails include an upper slide rail, a lower slide rail, a left slide rail and a right slide rail; the inner tube of the linear magnetorheological damper is connected in parallel with a linear return spring to provide the necessary rebound force; it also includes electromagnetic sliders, which are symmetrically arranged and symmetrically installed on the left slide rail and the right slide rail to achieve locking of linear displacement, and the lower slide rail is equipped with a displacement sensor for real-time monitoring of linear displacement.

2. A multi-dimensional compliant buffer joint device suitable for a space robot arm according to claim 1, characterized in that: The rotary deflection magnetorheological damper (4) and the deflection electromagnetic clutch (6) are symmetrically mounted on the deflection joint rigid frame (1); a deflection joint torsion spring (8) is arranged between the deflection electromagnetic clutch (6) and the deflection joint rigid frame (1); and the rotary deflection magnetorheological damper (4) is equipped with an encoder, which can obtain the rotational motion state in real time.

3. A multi-dimensional compliant buffer joint device suitable for a space robot arm according to claim 2, characterized in that: The rotary pitch magnetorheological damper (5) and the pitch electromagnetic clutch (7) are symmetrically mounted on a pitch joint rigid frame (3) which is perpendicular to the deflection joint rigid frame (1); the deflection joint rigid frame (1) and the pitch joint rigid frame (3) form a cross structure; the pitch electromagnetic clutch (7) and the torsion joint rigid frame (11) are connected via a pitch joint torsion spring (9); the torsion joint rigid frame (11) and the pitch joint rigid frame (3) are arranged perpendicularly to form a cross structure.

4. The multi-dimensional compliant buffer joint device suitable for a space robot arm according to claim 3, characterized in that: The rotary roll magnetorheological damper (12) and the roll electromagnetic clutch (15) are symmetrically installed along the torsion axis direction, and the rotary roll magnetorheological damper (12) and the roll electromagnetic clutch (15) are connected in series using a first coupling (13); one end of a torsion joint torsion spring (14) is connected to a torsion joint rigid frame (11), and the other end of the torsion joint torsion spring (14) is connected to the rotary magnetorheological damper (12), so as to achieve energy conversion and buffering; the translation joint is connected to the roll electromagnetic clutch (15) via a second coupling (16), and the second coupling (16) and the roll electromagnetic clutch (15) achieve synchronous rotation.

5. The multi-dimensional compliant buffer joint device suitable for a space robot arm according to claim 4, characterized in that: One side of the linear magnetorheological damper (19) is fixedly connected to the rigid frame, and the other side of the linear magnetorheological damper (19) is combined with a movable end plate (27) to form a translation pair. The movable end plate (27) is provided with an end effector interface (24) of a space manipulator to facilitate the integration of the manipulator; four sets of slide rails (21) and guide wheel (22) devices are installed on the joint rigid frame, wherein electromagnetic braking slide rails (25) are installed at symmetrical positions of the pitch motion axis to realize braking and stiffness adjustment of the linear motion of the translation pair; a grating ruler (26) is installed on the lower slide rail to sense the state of translation motion in real time and provide closed-loop control support for the capture process.

6. A control method for a multi-dimensional compliant buffer joint device suitable for a space robot arm, characterized in that: A multi-dimensional compliant buffer joint device suitable for a space manipulator as described in any one of claims 1 to 5 above is used, and the lower left corner of the joint mechanism device is subjected to an eccentric collision; before the collision occurs, the electromagnetic brake slide rail (25), the deflection electromagnetic clutch (6), the pitch electromagnetic clutch (7), and the roll electromagnetic clutch (15) are first in a disconnected state, and the joint system enters a flexible mode; the eccentric collision first compresses the linear spring (23) and the linear magnetorheological damper (19); the linear spring (23) and the linear magnetorheological damper (19) generate a damping force to buffer the collision; the impact force comes When the impact force reaches the pitch structure component, the pitch electromagnetic clutch (7) and the pitch joint torsion spring (9) are rotated by the impact force, and the torsion joint rigid frame (11) swings downward; the rotary pitch magnetorheological damper (5) and the pitch joint torsion spring (9) absorb part of the impact; when the impact force reaches the deflection structure component, the rotary deflection magnetorheological damper (4) and the deflection joint torsion spring (8) are rotated by the impact force, and the pitch joint rigid frame (3) rotates to the left; the rotary deflection magnetorheological damper (4) and the deflection joint torsion spring (8) absorb the impact; thus, most of the vibration and impact force are absorbed.

7. A control method for a multi-dimensional compliant buffer joint device suitable for a space robot arm, characterized in that: A multi-dimensional compliant buffer joint device suitable for a space manipulator as described in any one of claims 1 to 5 above is used, and the lower left corner of the joint mechanism device is subjected to an eccentric torsional collision; before the collision occurs, the electromagnetic brake slide rail (25), the deflection electromagnetic clutch (6), the pitch electromagnetic clutch (7), and the roll electromagnetic clutch (15) are first in a disconnected state, and the joint system enters a flexible mode; the axial component of the eccentric collision first compresses the linear spring (23) and the linear magnetorheological damper (19); the linear spring (23) and the linear magnetorheological damper (19) generate a damping force to buffer the collision; the torque therein causes the rigid frame (18) of the translational joint to rotate, and the rotation of the rigid frame (18) of the translational joint drives the first coupling (13), the second The first coupling (16) rotates, and the torsion joint torsion spring (14) and the roll electromagnetic clutch (15) generate a damping torque to buffer the twisting; the impact force reaches the pitch structure component, and the rotary pitch magnetorheological damper (5) and the pitch joint torsion spring (9) rotate under the impact force, and the torsion joint rigid frame (11) swings downward; the rotary pitch magnetorheological damper (5) and the pitch joint torsion spring (9) absorb the impact; the impact force reaches the deflection structure component, and the rotary deflection magnetorheological damper (4) and the deflection joint torsion spring (8) rotate under the impact force, and the pitch joint rigid frame (3) rotates to the left; the rotary deflection magnetorheological damper (4) and the deflection joint torsion spring (8) absorb the impact; thereby, most of the vibration and impact force are absorbed.

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