Multifunctional manipulator for on-orbit assembly of large space truss structure

Abstract

The invention discloses a multifunctional manipulator device for on-orbit assembly of a large space truss structure. The multifunctional manipulator device comprises a three-function finger assembly, a camera, a displacement sensor, a temperature sensor and the like, so that closed-loop monitoring control is realized, and collaborative integrated operation is realized. According to the first function, a composite positioning structure of electromagnetic correction, motor lead screw high-precision feeding and mechanical locking is adopted to establish a target reference; the second function means that the two sides are symmetrically arranged, flexible self-adaptive contact is achieved through a spring damping device, and the truss is clamped; and the third function refers to that after pose calibration is completed through a distance sensor, the hollow tubular shape memory alloy is subjected to electromagnetic heating in a bolt hole, so that phase change of the hollow tubular shape memory alloy is achieved, pre-tightening force is generated, and locking is completed through laser girdling of a redundant section. Through collaborative design of the mechanical structure and the shape memory alloy material characteristics, the technical problems that an existing on-orbit assembly operation device is single in function, low in positioning precision in the vacuum environment and insufficient in function integration degree are solved, and the accuracy and reliability of on-orbit assembly of a large space structure are improved.

Description

Technical Field

[0001] This invention relates to the field of on-orbit assembly actuator technology, and more specifically to a multifunctional robotic arm for on-orbit assembly of large space truss structures. Background Technology

[0002] With the rapid development of aerospace technology, space assembly, maintenance, and resource development missions place stringent demands on the precision and adaptability of mechanical actuators. Especially in extreme environments such as the Moon and Mars, characterized by low gravity and high radiation, efficient and reliable component manipulation devices are crucial for the success of on-orbit assembly missions. To overcome the limitations of ground-based assembly methods and achieve integrated operations of precise component delivery, locking, and processing in space, the development of multifunctional actuators adapted to extreme working conditions is imperative.

[0003] Due to the unique environment of space and limitations in the current stage of technological development, the main drawbacks of current space-based robotic arm actuators are as follows:

[0004] (1) Most existing devices are designed for a single function, and can only perform simple grabbing or pushing. They lack the ability to adapt to different structures (such as trusses and bolt holes) and material components, making it difficult to meet the needs of complex assembly tasks.

[0005] (2) In low gravity and vacuum environments, traditional mechanical structures are prone to positioning drift and contact rigidity damage, and radiation and extreme temperature differences can easily lead to the failure of drive components, affecting operational stability.

[0006] (3) The work process is fragmented, requiring switching between multiple devices for steps such as pushing, locking, and cutting, resulting in operational redundancy, low efficiency, and a lack of closed-loop monitoring mechanisms, making it difficult to guarantee operational accuracy. Therefore, how to provide an integrated and highly adaptable space operation execution device to achieve precise, efficient, and reliable operation of components in extreme environments is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] In view of this, the present invention provides an integrated three-function space operation device, which aims to solve the technical problems of the above-mentioned traditional on-orbit assembly operation execution devices having single function, poor adaptability to targets, and insufficient operational accuracy and reliability in extreme space environments.

[0008] A multi-functional robotic arm for on-orbit assembly of large space truss structures includes:

[0009] The finger root rotating chassis includes a rotating disk, an indexing and positioning mechanism, a buffer mounting hole, and a depth camera. The rotating disk is the main structure of the finger root rotating chassis. The indexing and positioning mechanism is installed on the outer peripheral wall of the rotating disk. The buffer mounting hole is opened on the upper surface of the rotating disk. The depth camera is installed on one side of the upper surface of the rotating disk via a bracket. The depth camera includes an infrared camera and an RGB color camera, both of which are installed inside the housing of the depth camera.

[0010] Preferably, the electromagnetic locking and positioning assembly includes a motor, a ball screw, a locking device housing, and an electromagnetic drive latch assembly; the motor is installed inside the base of the robot's actuator end; the locking device housing is fixed on the rotating base of the robot's finger roots; the ball screw is coaxially arranged with the power output shaft of the motor and is connected to the motor for transmission, and the ball screw is located inside the locking device housing; the electromagnetic drive latch assembly is fastened to the nut bracket of the ball screw, and the electromagnetic drive latch assembly is located on the top end face of the locking device housing; the latch body of the electromagnetic drive latch assembly is hinged to the nut bracket of the ball screw, and the electromagnetic drive unit of the electromagnetic drive latch assembly is arranged correspondingly to the latch body.

[0011] Preferably, the flexible buffer fixing assembly includes a damper guide rod, a spring damping body, a sliding connecting arm, a linkage hinge, an end contact head, a limiting seat, and a pre-tightening spring positioning claw; the damper guide rod is the main rod of the flexible adaptive damper; the spring damping body is sleeved on the outer periphery of the damper guide rod; the sliding connecting arm is connected to the outer wall of the spring damping body; the linkage hinge is hinged to the bottom end of the sliding connecting arm; the end contact head is connected to the bottom end of the linkage hinge; the limiting seat is installed on the outer side of the top end of the damper guide rod; the pre-tightening spring positioning claw and the limiting seat are correspondingly arranged on the top side wall of the damper guide rod.

[0012] Preferably, the collaborative pre-tightening cutting functional component includes a ball screw, a screw mounting base, an electromagnetic induction heating device, a laser cutting execution head, a shape memory alloy material, a rotary positioning table, a positioning groove, and a back-side positioning jaw. The screw mounting base serves as the mounting carrier for the module, and the ball screw is assembled inside the screw mounting base. The electromagnetic induction heating device is sleeved on the outer periphery of the shape memory alloy material for phase change heating. The laser cutting execution head is arranged on one side of the electromagnetic induction heating device for cutting redundant sections of the shape memory alloy material. The shape memory alloy material is placed on the upper surface of the rotary positioning table, which can adjust the angle of the shape memory alloy material. The positioning groove is formed on the table surface of the rotary positioning table to define the initial position of the shape memory alloy material. The back-side positioning jaw is located above the module for auxiliary positioning of the target workpiece, cooperating with the assembly operation of the shape memory alloy material.

[0013] During the on-orbit assembly of the truss, the infrared camera and RGB color camera of the depth camera collect the three-dimensional coordinate information of the target truss interface, and the displacement sensor simultaneously measures the relative distance between the robot and the interface. After the information is transmitted to the control system, the indexing and positioning mechanism drives the rotary table to rotate and adjust its posture. The motor of the electromagnetic locking and positioning component drives the ball screw to advance, which drives the electromagnetic drive lock tongue component to approach the target interface and completes the initial positioning through electromagnetic calibration. Then, the lock tongue body of the electromagnetic drive lock tongue component hinges and rotates to achieve mechanical locking. The ends of the two flexible buffer fixing components contact the surface of the large truss. The spring damping body buffers the contact impact force through extension and contraction. The linkage hinge seat adaptively adjusts the contact angle, and the pre-tightening spring positioning claw cooperates to complete the secondary fixing. The ball screw of the coordinated pre-tightening cutting function component pushes the rotary positioning table to transport the shape memory alloy material to the end of the bolt. After the back positioning claw clamps and positions it, the electromagnetic induction heating device heats the shape memory alloy material to cause it to expand in phase change and lock the bolt. After the pressure sensor detects that the pre-tightening force meets the standard, the laser cutting execution head performs ring cutting to remove redundant sections. Finally, each component is reset and withdrawn in sequence to complete the pre-tightening assembly of the truss interface.

[0014] Through the above technical solutions, this invention achieves high-precision positioning, adaptive fixing and reliable pre-tightening of large space truss structures in orbit through the collaborative perception of depth cameras and sensors, the attitude adjustment of the rotating disk, the mechanical locking of the electromagnetic drive locking tongue assembly, the flexible buffering of the spring damping body and the phase change pre-tightening of the shape memory alloy material. It has the characteristics of strong adaptability to microgravity environment, high assembly efficiency and good connection stability. Attached Figure Description

[0015] Figure 1 A three-dimensional schematic diagram of a multifunctional robotic arm for on-orbit assembly of large space truss structures provided by the present invention;

[0016] Figure 2 A three-dimensional schematic diagram of the integrated support base for the rotating disk and camera provided by the present invention;

[0017] Figure 3 Provided by the present invention Figure 2 Partial view;

[0018] Figure 4 A three-dimensional schematic diagram of the electromechanical composite locking actuator provided by the present invention;

[0019] Figure 5 This is a three-dimensional schematic diagram of the adaptive damping buffer assembly provided by the present invention;

[0020] Figure 6 A partial cross-sectional view of the adaptive damping buffer assembly provided by the present invention;

[0021] Figure 7A three-dimensional schematic diagram of the collaborative pre-tightening cutting functional component provided by the present invention;

[0022] Figure 8 A three-dimensional schematic diagram of the dual-drive linkage component section provided by the present invention;

[0023] in:

[0024] 1-Rotating working platform for mechanical components; 11-Rotating disk; 12-Indexing and positioning mechanism; 13-Buffer mounting hole; 14-Depth camera; 141-Infrared camera; 142-RGB color camera;

[0025] 2-Electromagnetic locking and positioning assembly; 21-Motor; 22-Ball screw; 23-Locking device housing; 24-Electromagnetic drive lock tongue assembly;

[0026] 3-Flexible buffer fixing assembly; 31-Flexible adaptive damper; 311-Damper guide rod; 312-Spring damping body; 313-Sliding connecting arm; 314-Linkage hinge seat; 315-End contact head; 316-Limit seat; 317-Preloaded spring positioning claw;

[0027] 4-Collaborative pre-tightening cutting function component; 41-Ball screw; 42-Screw mounting base; 43-Electromagnetic induction heating device; 44-Laser cutting execution head; 45-Shape memory alloy material; 46-Rotary positioning stage; 47-Positioning groove; 48-Back side positioning jaws;

[0028] 5-Dual-drive linkage knuckle assembly; 51-Motor mounting bracket; 52-Linkage plate guide groove; 53-Motor; Detailed Implementation

[0029] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0030] See appendix Figure 1-8 This invention discloses a multifunctional robotic arm for on-orbit assembly of large space truss structures.

[0031] In view of this, the present invention provides an integrated three-function space operation device, which aims to solve the technical problems of the above-mentioned traditional on-orbit assembly operation execution devices having single function, poor adaptability to targets, and insufficient operational accuracy and reliability in extreme space environments. The implementation scheme of the present invention will be further described below in conjunction with specific operation scenarios.

[0032] The multifunctional robotic arm in this embodiment adopts a modular integrated design. Each component is made of aerospace-grade lightweight alloy material, making it suitable for the extreme space environment of microgravity, high and low temperatures, and strong radiation. The connection relationship and structural details of its core components are as follows:

[0033] The finger base rotating chassis is fastened to the dual-drive linkage finger joint assembly 5 of the robotic arm via a flange. The flange uses a combination of positioning pins and bolts to ensure coaxiality and connection stability after assembly. The rotating disk 11 serves as the main structure, with mounting grooves evenly distributed on its outer peripheral wall. The indexing and positioning mechanism 12 is fastened to the mounting grooves by bolts and is electrically connected to the controller to receive attitude adjustment commands. The upper surface of the rotating disk 11 has buffer mounting holes 13, with elastic buffers embedded in the holes to absorb impact loads generated during assembly. The depth camera 14 is fixed to the edge of the rotating disk 11 via an L-shaped bracket. The bracket is reinforced to the rotating disk 11 with reinforcing ribs to ensure that the camera's shooting angle covers the entire area of ​​the target truss interface. The infrared camera 141 and the RGB color camera 142 built into the depth camera 14 are arranged with their optical axes parallel. The two work together to collect the three-dimensional coordinate information and surface texture images of the target interface, providing data support for positioning and adjustment.

[0034] The locking device housing 23 of the electromagnetic locking and positioning assembly is fixed to the upper surface of the rotating disk 11 by welding. The housing has stepped channels inside to accommodate the ball screw 22 and transmission components. The motor 21 is embedded in the base of the robotic arm's execution end, and its fixed end is fastened to the base via a motor bracket. The power output shaft is coaxially driven with the ball screw 22 via a perforated flexible coupling to ensure smooth power transmission. The ball screw 22 passes through the locking device housing 23, and its end nut bracket is fastened to the electromagnetic drive latch assembly 24 via multiple sets of bolts. The electromagnetic drive latch assembly 24... The drive unit is the core of coarse positioning calibration. It is arranged in accordance with the magnetic positioning structure of the truss interface. After being powered on, it generates a magnetic field and forms a magnetic adsorption calibration with the magnetic part of the interface to achieve the initial alignment of the robot and the interface. On the basis of electromagnetic coarse positioning, the depth camera 14 and the displacement sensor work together to collect the alignment deviation data. The controller drives the indexing positioning mechanism 12 to finely adjust the attitude of the rotating disk 11 to complete the fine adjustment. The locking tongue body and the nut bracket are hinged with self-lubricating bearings. After fine adjustment, it can rotate flexibly by the advancement of the ball screw 22 and insert into the positioning hole to complete the subsequent mechanical locking action. When disengaging, it rotates in the opposite direction to reset.

[0035] Two sets of flexible buffer fixing components are symmetrically installed on both sides of the electromagnetic locking and positioning components, forming a symmetrical clamping structure for the truss interface; the top of the damper guide rod 311 is connected to the robot arm execution end base via a flange; the outer circumferentially sleeved spring damping body 312 is composed of a helical spring and a viscous damper, both arranged coaxially, and can absorb contact impact through expansion and contraction deformation; the sliding connecting arm 313 has a U-shaped structure, one side of which is welded and fixed to the outer wall of the spring damping body 312, and the other side is hinged to the linkage hinge seat 314 via a pin, the bottom end of the linkage hinge seat 314 is connected to... The end contact head 315 is threaded and made of flexible wear-resistant material with anti-slip texture on the surface to prevent slippage when in contact with the truss surface. A limit seat 316 is installed on the outer side of the top of the damper guide rod 311. The limit seat 316 is fixed to the guide rod by a set screw and is used to limit the maximum extension and retraction stroke of the spring damping body 312. The pre-tightened spring positioning claws 317 are symmetrically arranged on the top side wall of the damper guide rod 311. The opening and closing action of the claws is driven by the built-in spring and can cooperate with the end contact head 315 to achieve secondary fixation of the truss.

[0036] The lead screw mounting base 42 of the collaborative pre-tensioning cutting functional component has a frame structure and is fastened to the end of the third finger joint of the robot arm by bolts. The lead screw mounting base 42 has a bearing seat inside to support the two ends of the ball screw 41. The ball screw 41 is connected to the servo motor through a synchronous belt, which can realize the conversion between rotary motion and linear motion. The shape memory alloy material 45 is placed in the positioning groove 47 of the rotary positioning stage 46. The shape of the positioning groove 47 matches the cross-section of the shape memory alloy material 45 to define its initial position. The rotary positioning stage 46 can rotate around its own axis, driving the shape memory alloy material 45 to adjust its angle. To ensure coaxiality with the truss bolt opening; the electromagnetic induction heating device 43 is a ring structure, sleeved on the outer periphery of the shape memory alloy material 45, and the heating area corresponds to the phase transition section of the shape memory alloy material 45; the laser cutting execution head 44 is arranged on one side of the electromagnetic induction heating device 43 through an adjustable bracket, and the bracket can adjust the angle and height of the cutting head so that the cutting trajectory matches the root of the redundant section of the shape memory alloy material 45; the back-side positioning jaws 48 are vertically installed above the assembly, and their clamping ends are adapted to the outer wall surface of the shape memory alloy material 45, so as to achieve clamping and positioning after the shape memory alloy material 45 is delivered into place.

[0037] The specific process of the multi-functional robotic arm in this embodiment during the on-orbit assembly of the truss is as follows:

[0038] 1. Target recognition and attitude adjustment: After the robot arm arrives at the work area with the carrier, the controller activates the depth camera 14, the infrared camera 141 and the RGB color camera 142 to simultaneously collect the three-dimensional coordinate information and surface texture image of the target truss interface. The displacement sensor simultaneously measures the relative distance between the robot arm end and the interface. After the collected data is transmitted to the controller, the attitude deviation is calculated by the data fusion algorithm. The controller sends a command to the indexing and positioning mechanism 12 to drive the rotary disk 11 to rotate, so that the locking tongue body of the electromagnetic locking and positioning component is aligned with the interface positioning hole.

[0039] 2. Electromagnetic coarse positioning, fine adjustment, and mechanical locking: After the attitude adjustment is completed, the controller controls the electromagnetic drive unit of the electromagnetic drive latch assembly 24 to be energized, generating a magnetic field that forms a magnetic adsorption calibration with the magnetic part of the truss interface, completing the initial coarse positioning; then the depth camera 14 and the displacement sensor collect alignment data again, and the controller drives the indexing positioning mechanism 12 to finely adjust the attitude of the rotating disk 11 according to the deviation, achieving fine alignment; after the fine adjustment is completed, the motor 21 starts to drive the ball screw 22 to rotate in the forward direction, pushing the nut bracket to move the electromagnetic drive latch assembly 24 towards the truss interface, and the latch body rotates around the hinge point to insert into the positioning hole; after the position sensor detects the latch body's arrival signal, the motor 21 continues to drive the ball screw 22 to advance, so that the latch body fits tightly against the inner wall of the positioning hole, achieving mechanical locking.

[0040] 3. Flexible buffering and secondary fixation: After mechanical locking, the controller controls the pre-tightening spring positioning claws 317 of the two flexible buffering and fixing components to open, and at the same time drives the second phalanx of the robot to extend and retract, so that the end contact head 315 moves closer to the truss surface; when the end contact head 315 contacts the truss surface, the spring damping body 312 absorbs the contact impact force through extension and contraction deformation, and the linkage hinge seat 314 adaptively adjusts the contact angle according to the tilt angle of the truss surface to ensure that the end contact head 315 is completely in contact with the truss surface; then the pre-tightening spring positioning claws 317 close, apply pre-tightening force to the truss surface, and complete the secondary fixation in conjunction with the electromagnetic locking and positioning components to prevent the truss from shifting during assembly.

[0041] 4. Shape Memory Alloy Pre-tightening and Redundant Cutting: After the secondary fixing is completed, the controller drives the third phalanx of the robot arm to extend and retract, coordinating with the rotary positioning table 46 of the pre-tightening and cutting functional component to move to the end of the truss bolt opening; the positioning groove 47 defines the position of the shape memory alloy material 45, and the back positioning jaws 48 close to clamp the shape memory alloy material 45; the servo motor drives the ball screw 41 to advance, conveying the shape memory alloy material 45 into the bolt opening; the electromagnetic induction heating device 43 is activated to heat the phase change section of the shape memory alloy material 45, causing it to undergo phase change expansion and tightly adhere to the inner wall of the bolt opening to form a lock; after the pressure sensor detects that the pre-tightening force meets the standard, the electromagnetic induction heating device 43 stops heating, and the laser cutting execution head 44 is activated to perform a ring cut along the root of the redundant section of the shape memory alloy material 45 to remove the redundant part.

[0042] 5. Component Reset and Operation Completion: After cutting, the back-side positioning jaws 48 open, the ball screw 41 rotates in the opposite direction to drive the rotary positioning table 46 to reset; the pre-tightening spring positioning jaws 317 open, the end contact head 315 of the flexible buffer fixing component separates from the truss surface, and the second finger joint resets; the electromagnetic drive unit is de-energized, the locking tongue body rotates to reset, the motor 21 drives the ball screw 22 to rotate in the opposite direction, and the electromagnetic drive locking tongue assembly 24 separates from the positioning hole; the indexing positioning mechanism 12 drives the rotary disk 11 to reset, and the manipulator's fingers retract and withdraw from the work area, completing one assembly process.

[0043] Through the coordinated operation of the aforementioned components, this invention achieves high-precision positioning of the truss interface by leveraging the collaborative sensing capabilities of the depth camera 14 and sensors; improves the adaptability of the robotic arm to different interface positions by utilizing the attitude adjustment function of the rotary disk 11; ensures structural stability during assembly through the mechanical locking of the electromagnetic drive locking tongue assembly 24 and the secondary fixing of the flexible buffer fixing assembly; and achieves reliable connection of the truss interface by combining the phase change pre-tightening of the shape memory alloy material 45 and the redundant cutting of the laser cutting execution head 44. Compared with traditional on-orbit assembly execution devices, this invention integrates multiple functions such as positioning, fixing, pre-tightening, and cutting, exhibits stronger adaptability in microgravity environments, improves assembly efficiency by more than 30%, and meets the connection stability requirements for long-term assembly tasks, effectively solving the technical problems of traditional devices such as single function, poor adaptability, and insufficient operational reliability.

[0044] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-functional robotic arm for on-orbit assembly of large space truss structures, characterized in that, include: A finger root rotating chassis includes (11) a rotating disk, (12) an indexing and positioning mechanism, (13) a buffer mounting hole, and (14) a depth camera; the (11) rotating disk is the main structure of the finger root rotating chassis; the (12) indexing and positioning mechanism is installed on the outer peripheral wall of the (11) rotating disk; the (13) buffer mounting hole is opened on the upper disk surface of the (11) rotating disk; the (14) depth camera is installed on one side of the upper disk surface of the (11) rotating disk by a bracket; the (14) depth camera includes (141) an infrared camera and (142) an RGB color camera, and both the (141) infrared camera and the (142) RGB color camera are installed inside the housing of the (14) depth camera; An electromagnetic locking and positioning assembly includes (21) a motor, (22) a ball screw, (23) a locking device housing, and (24) an electromagnetic drive latch assembly. The (21) motor is installed inside the base of the robotic arm's execution end. The (23) locking device housing is fixed on the finger root rotating base. The (22) ball screw is coaxially arranged with the power output shaft of the (21) motor and is connected to the (21) motor in a transmission manner. The (22) ball screw is located inside the (23) locking device housing. The (24) electromagnetic drive latch assembly is fastened to the nut bracket of the (22) ball screw and is located on the top end face of the (23) locking device housing. The latch body of the (24) electromagnetic drive latch assembly is hinged to the nut bracket of the (22) ball screw, and the electromagnetic drive unit of the (24) electromagnetic drive latch assembly is arranged correspondingly to the latch body. A flexible buffer fixing assembly includes (311) a damper guide rod, (312) a spring damping body, (313) a sliding connecting arm, (314) a linkage hinge seat, (315) an end contact head, (316) a limiting seat, and (317) a preloaded spring positioning claw; the (311) damper guide rod is the main rod of the flexible buffer fixing assembly; the (312) spring damping body is sleeved on the outer periphery of the (311) damper guide rod; the (313) The sliding connecting arm is connected to the outer wall of the (312) spring damping body; the (314) linkage hinge is hinged to the bottom end of the (313) sliding connecting arm; the (315) end contact head is connected to the bottom end of the (314) linkage hinge; the (316) limiting seat is installed on the outer side of the top end of the (311) damper guide rod; the (317) preload spring positioning claw is arranged on the top side wall of the (311) damper guide rod in correspondence with the (316) limiting seat; The collaborative pre-tightening cutting functional component includes (41) a ball screw, (42) a screw mounting base, (43) an electromagnetic induction heating device, (44) a laser cutting execution head, (45) a shape memory alloy material, (46) a rotary positioning stage, (47) a positioning groove, and (48) a back-side positioning jaw; the (42) screw mounting base is the mounting carrier of the module, and the (41) ball screw is assembled inside the (42) screw mounting base; the (43) electromagnetic induction heating device is sleeved on the outer periphery of the (45) shape memory alloy material and is used to perform phase change heating on the (45) shape memory alloy material; the (44) laser cutting head... An execution head is arranged on one side of the electromagnetic induction heating device (43) for cutting redundant segments of the shape memory alloy material (45); the shape memory alloy material (45) is placed on the upper surface of the rotary positioning table (46), and the rotary positioning table (46) can drive the shape memory alloy material (45) to adjust its angle; the positioning groove (47) is opened on the table surface of the rotary positioning table (46) for defining the initial position of the shape memory alloy material (45); the back-side positioning jaws (48) are located above the module for auxiliary positioning of the target workpiece, in conjunction with the assembly operation of the shape memory alloy material (45); During the on-orbit assembly of the truss, the (141) infrared camera and (142) RGB color camera of the (14) depth camera acquire the three-dimensional coordinate information of the target truss interface. (49) The displacement sensor synchronously measures the relative distance between the robot and the interface; after the information is transmitted to the control system, the (12) indexing and positioning mechanism drives the (11) rotary disk to rotate and adjust its posture, the (21) motor of the electromagnetic locking and positioning assembly drives the (22) ball screw to advance, driving the (24) electromagnetic drive lock tongue assembly to approach the target interface and complete the initial positioning through electromagnetic calibration, and then the lock tongue body of the (24) electromagnetic drive lock tongue assembly hinges and rotates to achieve mechanical locking; the (315) ends of the two flexible buffer fixing components contact the surface of the large truss, the (312) spring damping body buffers the contact impact force through extension and retraction, and the (31) 4) The linkage hinge seat adaptively adjusts the contact angle, and the (317) pre-tightening spring positioning claw cooperates to complete the secondary fixation; the (41) ball screw of the collaborative pre-tightening cutting function component pushes the (46) rotating positioning table to transport the (45) shape memory alloy material to the end of the bolt. After the (48) back-side positioning claw clamps and positions, the (43) electromagnetic induction heating device heats the (45) shape memory alloy material to make it phase change expansion and lock the bolt. After the (50) pressure sensor detects that the pre-tightening force meets the standard, the (44) laser cutting execution head performs ring cutting to remove redundant sections. Finally, each component is reset and exited in sequence to complete the pre-tightening assembly of the truss interface.

2. The multifunctional robotic arm for on-orbit assembly of large space truss structures according to claim 1, characterized in that, The indexing and positioning mechanism (12) includes a servo motor (121) and an angle encoder (122). The fixed end of the servo motor (121) is fastened to the side wall of the rotating disk (11). The power output end of the servo motor (121) is connected to the fixed base of the finger root rotating chassis. The angle encoder (122) is coaxially connected to the power output shaft of the servo motor (121) and is used to provide real-time feedback on the rotation angle of the rotating disk (11).

3. A multifunctional robotic arm for on-orbit assembly of large space truss structures according to claim 1, characterized in that, The (24) electromagnetic drive latch assembly also includes a position sensor, which is installed at the top of the latch body and is used to detect the relative position of the latch body and the target interface.

4. A multifunctional robotic arm for on-orbit assembly of large space truss structures according to claim 1, characterized in that, The (312) spring damping body is equipped with a pressure sensor inside. The pressure sensor is in contact with the outer wall of the (311) damper guide rod and is used to detect the extension and retraction pressure of the (312) spring damping body.

5. A multifunctional robotic arm for on-orbit assembly of large space truss structures according to claim 1, characterized in that, The table surface of the (46) rotating positioning stage is also provided with a displacement sensor, which is arranged corresponding to the side wall of the (45) shape memory alloy material, and is used to detect the conveying displacement of the (45) shape memory alloy material.

6. A multifunctional robotic arm for on-orbit assembly of large space truss structures according to claim 1, characterized in that, It also includes an energy module, which includes a lithium battery pack and a wireless charging coil. The lithium battery pack is electrically connected to the (21) motor, (12) indexing and positioning mechanism, and (43) electromagnetic induction heating device. The wireless charging coil is wired to the lithium battery pack for on-orbit power replenishment.

Images