Multi-module space robot with variable configuration-variable rigidity

Abstract

A multi-module space robot with variable configuration-variable rigidity solves the problems that an existing flexible space robot is low in driving efficiency and poor in configuration keeping capacity, and belongs to the technical field of robots, and the multi-module space robot is formed by connecting a head end executor, a tail end executor and a plurality of functional modules connected between the head end executor and the tail end executor in series; the function modules comprise a linear module and a rotating module; wherein the linear module is used for realizing axial telescopic and deflection motion, and the rotating module is used for realizing rotation motion around a shaft; the two types of modules are both integrated with electrostatic hydraulic driving structures and electrostatic adsorption type rigidity keeping units, and high-rigidity configuration locking can be achieved in a power-on state.

Description

Technical Field

[0001] This invention relates to a multi-module space robot with variable configuration and variable stiffness, which is suitable for scenarios such as spacecraft confined space exploration and on-orbit operation, and belongs to the field of robotics technology. Background Technology

[0002] With the increasing demands for space operations, confined space exploration, and complex environment work, traditional rigid space robots have limitations in terms of flexibility and adaptability. In recent years, flexible space robots have attracted widespread attention due to their excellent environmental adaptability and reconfigurability. However, existing flexible robots generally suffer from low motion accuracy, weak load capacity, and insufficient configuration-keeping stiffness. Currently common flexible actuation methods, such as aerodynamics, shape memory alloys, and electroactive polymers, while capable of large deformations, still have shortcomings in response speed, energy consumption, and integration. Furthermore, most flexible robots lack effective stiffness locking mechanisms, resulting in poor performance in scenarios requiring stable support or precise positioning. Electrostatic actuation technology, with its advantages of fast response, low energy consumption, and no electromagnetic interference, has been applied to microelectromechanical systems (MEMS). However, directly utilizing electrostatic actuation to achieve large-scale motion on a macroscopic scale is quite difficult. In addition, how to achieve integrated "drive-brake" design in flexible structures is a significant challenge in current flexible robot research. Therefore, a novel modular robot structure is urgently needed that can ensure compliant motion while possessing high-stiffness configuration locking capabilities to meet the dual requirements of dynamic deformation and static stability in complex tasks. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and solve the problems of low driving efficiency and poor configuration retention of existing flexible space robots, so as to realize efficient driving, precise steering and high stiffness attitude locking of space robots.

[0004] The objective of this invention is achieved through the following technical solutions: A multi-module space robot with variable configuration and variable stiffness is composed of two end effectors at the head and tail and several functional modules connected in series between them. The functional modules include two types: linear modules and rotary modules. The linear modules are used to realize axial extension and deflection motion, and the rotary modules are used to realize rotational motion around the axis. Both types of modules integrate an electrostatic hydraulic drive structure and an electrostatic adsorption stiffness holding unit, which can achieve high stiffness configuration locking when energized.

[0005] Each of the linear modules includes: Linear drive unit: Employs electrostatic hydraulic drive to achieve axial shortening and overall deflection; Linear stiffness holding unit: It adopts electrostatic adsorption braking method to achieve high stiffness attitude holding.

[0006] The linear drive unit is a variable-configuration rectangular frame structure with hinges at the four corners, allowing each side to rotate around the hinges. Each side plate is fixed to the drive unit base via the hinges. Internally, it contains multiple distributed liquid bladder array substructures, each substructure comprising several circumferentially stacked liquid bladders. Each liquid bladder includes a dielectric thin film layer, a flexible electrode layer, an insulating layer, and a dielectric fluid. The flexible electrode layer exists only in the left half of the liquid bladder, thus forming an electrode-bearing region on the left and an electrode-free region on the right. The electrode-bearing region on the left half of the liquid bladder, from the outside in, consists of an insulating layer, a flexible electrode layer, a dielectric thin film layer, and a dielectric fluid. In contrast, the electrode-free region on the right half, from the outside in, consists of an insulating layer, a dielectric thin film layer, and a dielectric fluid. Each layer of the liquid bladder is a thin-film flexible material, capable of significant bending. The dielectric fluid is an insulating, low-viscosity liquid. After applying voltage to the flexible electrode layer, electrostatic attraction is generated between the upper and lower flexible electrode layers in the left half. The dielectric film layer ensures that the flexible electrode layers remain insulated from each other. Under the action of electrostatic attraction, the flexible electrode layers move closer to each other, pushing the dielectric fluid to flow towards the electrodeless side (electrodeless area in the right half), causing the liquid bladder on the right side to expand. The circumferential pressure is transmitted through the circumferential stacking structure, forming a circumferential driving force that acts on the edge of the rectangular frame, causing it to contract towards the center, thus shortening the module axially. When the power supply to the flexible electrode layer is stopped, the dielectric fluid flows back, and the structure returns to its initial elongated state. By applying different voltages to the liquid bladder array substructures at different positions, the rotation angle difference of each plate can be controlled, realizing the overall deflection or bending of the driving unit.

[0007] The linear stiffness retention unit is located around the linear drive unit and is used to achieve high stiffness locking after power is applied. It includes two sets of stiffness retention arrays that are symmetrically arranged on the left and right. Each set contains three stiffness retention plates (upper retention plate, middle retention plate, and lower retention plate), which are connected by upper and lower connecting plates and hinges. The upper and lower retention plates are composed of a soft film layer, an electrode layer, and a hard base layer, from the outside to the inside: hard base layer, electrode layer, and soft film layer. The middle retention plate is composed of a middle plate soft film layer, a middle plate electrode layer, and a floating base layer that are symmetrically arranged on both sides (from the outside to the inside: middle plate soft film layer, middle plate electrode layer, and floating base layer), and a middle plate rigid base layer with an elastic thin support layer in the middle. The thin support layer has low stiffness. After power is applied to the electrode layer and the middle plate electrode layer, electrostatic attraction is generated between the middle retention plate and the upper and lower retention plates. The thin support layer is deformed under force, which causes the soft film (the soft film layer of the upper and lower retention plates and the soft film layer of the middle plate) to adhere and form tangential friction force to achieve a high stiffness state. After power is de-energized, it returns to a compliant state.

[0008] The robot further includes at least one rotation module for realizing rotational motion about the robot's axis; the rotation module includes: Rotary drive unit: adopts electrostatic hydraulic drive to achieve rotary motion drive; Rotational stiffness holding unit: It adopts electrostatic adsorption braking method to achieve high rotational stiffness attitude holding.

[0009] The rotary drive unit comprises two liquid bladder array substructures; it includes a rotating plate, a rotating shaft, and a rotating disk. The rotating plate is fixed on the rotating shaft at the center of the rotating disk and can rotate around the shaft. The rotating plate is positioned between the two liquid bladder array substructures, with one liquid bladder array substructure attached to each side. Each liquid bladder array substructure is identical to the liquid bladder array in the linear module, containing multiple circumferentially stacked liquid bladders and possessing deformation capability under voltage control. When a voltage is applied to the left liquid bladder array substructure, it generates a circumferential pushing force, causing the rotating plate to rotate clockwise. When a voltage is applied to the right liquid bladder array substructure, it generates a circumferential pushing force, causing the rotating plate to rotate counterclockwise. By adjusting the voltage difference between the two liquid bladder array substructures, the rotation direction and angle can be precisely controlled. The rotating disk has a rotating base and a rotating top, located on the bottom and top surfaces respectively, serving as a connection interface with other modules or end effectors.

[0010] The rotational stiffness holding unit is positioned opposite the rotational drive unit and is used to achieve high-stiffness rotational locking after power-on. It includes two symmetrical stiffness holding arrays, each containing three stiffness holding plates (first rotational holding plate, second rotational holding plate, and third rotational holding plate). One end of each plate is hinged to the rotating disk, and the other end is hinged to the rotating plate. The first and second rotational holding plates consist of a soft film layer, an electrode layer, and a hard substrate layer, similar to the linear stiffness holding unit. The third rotational holding plate consists of a symmetrically arranged middle plate soft film layer, a middle plate electrode layer, and a floating substrate. The system consists of three layers (from the outside to the inside: a middle plate soft film layer, a middle plate electrode layer, and a floating base layer), and a middle plate rigid base layer with an elastic thin support layer in the middle. The thin support layer has low stiffness, similar to the linear stiffness retention unit. After power is applied, electrostatic adsorption force is generated between the third rotating retaining plate and the first and second rotating retaining plates. The deformation of the thin support layer causes the soft film to adhere, forming tangential friction force to achieve a high stiffness state, similar to the linear stiffness retention unit. After locking, it can prevent the rotating plate from passively rotating under external loads, ensuring attitude stability. After power is cut off, the rotational degree of freedom is restored.

[0011] Integration method of rotary modules: Multiple rotary modules can be connected in series, placed between any two linear modules, or located near the end effector of the robot; its rotary disk is connected to the front and rear modules through mechanical interfaces (such as flanges or snap-fits); to achieve overall rotation control of all subsequent modules (including end effectors).

[0012] Multiple linear modules and at least one rotary module are connected in series along the axial direction to form the main body of the robot; each module independently controls its driving state and stiffness locking state; by coordinating the extension and deflection of the linear modules and combining the rotation of the rotary modules around the axis, the robot's overall three-dimensional spatial motion, attitude adjustment and target alignment are realized; the robot has an end effector at each end, which is considered to be a gripper-type structure, for grasping target objects.

[0013] Each linear module and rotary module is equipped with a local power supply and drive control board, which communicates via a high-speed serial bus (such as CAN or RS485) to achieve centralized or distributed control. The drive voltage range of the drive unit is 500V to 8000V, and the drive voltage range of the stiffness holding unit is 50V to 500V.

[0014] Compared with the prior art, the present invention has the following advantages: (1) Multi-degree-of-freedom composite motion capability: By integrating linear and rotational modules, the robot can achieve full-degree-of-freedom motion of axial extension, deflection, and rotation around the axis, which significantly improves the robot's spatial adaptability.

[0015] (2) High-precision attitude adjustment: The rotation module can independently control the orientation of the end effector, which is convenient for aligning with the target and is suitable for precision operation tasks.

[0016] (3) Active stiffness and flexibility adjustable: Both types of modules are equipped with electrostatic adsorption stiffness retention units, which can switch from flexible to rigid within milliseconds, taking into account both flexibility and stability.

[0017] (4) Strong modularity and scalability: Both linear and rotary modules are standardized units, and their quantity and position can be flexibly configured according to task requirements.

[0018] (5) Compact structure and no need for external fluid source: The driving medium is enclosed in the liquid bladder, which is easy to integrate. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the robot as a whole.

[0020] Figure 2 This is a schematic diagram of a robot's linear module.

[0021] Figure 3 This is a schematic diagram of the liquid bladder structure.

[0022] Figure 4 This is a schematic diagram of the axial contraction of a linear unit.

[0023] Figure 5 This is a schematic diagram of the linear stiffness-preserving element.

[0024] Figure 6 This is a schematic diagram of the cross-sectional structure of the upper retaining plate.

[0025] Figure 7 This is a schematic diagram of the cross-sectional structure of the retaining plate.

[0026] Figure 8 (a) Front view of the rotating module; Figure 8 (b) is a side view of the rotating module; Figure 8 (c) Front view of the rotating module after the rotating plate has rotated.

[0027] Figure label: 1: End effector 2: Linear Module 3: Rotating Module 201: Linear Drive Unit 202: Linear stiffness-preserving element 2011: Liquid-filled array substructure 2012: Tablet 2013: Drive Unit Base 2021: Upper retaining plate 2022: Middle Holding Plate 2023: Lower retainer plate 2024: Connecting Plate 20211: Soft membrane layer 20212: Electrode Layer 20213: Hard base layer 20221: Medium Plate Soft Film Layer 20222: Middle Plate Electrode Layer 20223: Floating Base Layer 20224: Rigid base layer of medium plate 301: Rotary drive unit 3011: Rotating Module Liquid Cell Array Substructure 3012: Rotating Plate 3013: Rotary shaft 3014: Spinning disc 30141: Rotating Chassis 30142: Rotating Top Plate 3015: Fixing plate 302: Rotational stiffness maintaining element 3021: First Rotary Holding Plate 3022: Second Rotary Holding Plate 3023: Third Rotational Holding Plate Detailed Implementation To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0028] like Figure 1 As shown, a multi-module space robot with variable configuration and variable stiffness consists of end effectors 1 at the head and tail ends, and multiple functional modules connected in series between them. The functional modules include linear modules 2 and rotary modules 3, whose number and order can be flexibly configured according to task requirements. The linear modules 2 are used to realize axial extension and deflection movements, and the rotary modules 3 are used to realize rotational movements around an axis; both types of modules integrate an electrostatic hydraulic drive structure and an electrostatic adsorption stiffness holding unit, enabling high-stiffness configuration locking when energized.

[0029] like Figure 2 As shown, the linear module 2 includes a linear drive unit 201 and a linear stiffness maintaining unit 202. The linear drive unit 201 is a rectangular frame structure, comprising a liquid bladder array substructure 2011, several plates 2012, and a drive unit base 2013. The plates 2012 are distributed on both sides, each plate consisting of three smaller plates connected by hinges, and fixed end-to-end to the drive unit base 2013 by the hinges. The hinges between the plates and the drive unit base 2013 contain coil springs, which, in their natural state, allow the plates to form a 90° angle with the drive unit base. Four sets of liquid bladder array substructures 2011 are arranged near the drive unit base 2013 on the plates 2012, each set containing several stacked liquid bladders.

[0030] The individual liquid bladder structures in the liquid bladder array substructure 2011 are as follows: Figure 3 As shown, the left half consists of an insulating layer, a flexible electrode layer, a dielectric film layer, and a dielectric liquid, from the outside in. In contrast, the right half has no flexible electrode layer and consists of an insulating layer, a dielectric film layer, and a dielectric liquid, from the outside in. The dielectric liquid inside the liquid bladder is a silicone oil-based liquid.

[0031] Axial contraction control: Voltage is synchronously applied to each liquid bladder of all liquid bladder array substructures 2011 on the flexible electrode layer. Figure 3 The portion of the liquid bladder containing the flexible electrode layer generates electrostatic attraction between the upper and lower flexible electrode layers, squeezing the dielectric fluid between the upper and lower dielectric film layers. This causes the dielectric fluid to flow to the right-hand electrodeless area, causing the right side of the liquid bladder to expand. The stacked liquid bladders generate a pushing force against each other, thus pushing the portion of the plate 2012 near the drive unit base 2013 to rotate. This causes the symmetrically arranged drive unit base 2013 to contract towards the center, with the effect as follows: Figure 4 As shown. The dielectric thin film layer ensures that the flexible electrode layers remain insulated from each other at all times.

[0032] After a power outage, the liquid bladder elastically rebounds, the dielectric fluid flows back, and the module returns to its elongated state.

[0033] like Figure 2 and 5As shown, the linear stiffness holding unit 202 is located on the periphery of the drive unit 201, with one set on each side. Each set includes an upper holding plate 2021, a middle holding plate 2022, and a lower holding plate 2023, which are connected to the connecting plate 2024 via hinges.

[0034] like Figure 6 As shown, the upper holding plate 2021 and the lower holding plate 2023 have the same structure: from the outside to the inside, they are a hard base layer 20213 → an electrode layer 20212 → a soft film layer 20211.

[0035] like Figure 7 As shown, the structure of the middle retaining plate 2022 is as follows: from the outside to the inside on both sides, there are middle plate soft film layer 20221 → middle plate electrode layer 20222 → floating base layer 20223, and in the middle is middle plate rigid base layer 20224 with elastic thin support layer.

[0036] Stiffness locking: There are grooves between the retaining plates, which can only slide relative to each other in one direction. When a voltage is applied to the three retaining plates, opposite voltages are applied between the middle retaining plate 2022 and the upper retaining plate 2021 and the lower retaining plate 2023. Electrostatic attraction is generated between the middle retaining plate 2022 and the upper retaining plate 2021 and the lower retaining plate 2023. The deformation of the thin support layer makes the soft film layers 20211 and 20221 fit tightly together, and the friction increases the stiffness of the entire structure.

[0037] Unlock: After power is cut off, the electrostatic attraction disappears, the structure becomes flexible again, and it can be freely deformed.

[0038] like Figure 3 As shown, the rotation module 3 includes a rotation drive unit 301 and a rotation stiffness holding unit 302.

[0039] like Figure 8 As shown, the rotation drive unit 301 includes a liquid bladder array substructure 3011, a rotating plate 3012, a rotating shaft 3013, a rotating disk 3014, and a fixing plate 3015. The rotating plate 3012 is mounted on the center of the frame via the rotating shaft 3013, and the rotating module liquid bladder array substructure 3011 is symmetrically arranged on both sides.

[0040] Each side of the liquid bladder array substructure 3011 contains several circumferentially stacked liquid bladders, with the same structural form as the liquid bladder of the linear module 2.

[0041] When a higher voltage is applied to the liquid bladder array substructure 3011 on the left than on the right, the rotating plate 3012 can be driven to rotate clockwise. When a higher voltage is applied to the liquid bladder array substructure 3011 on the right than on the left, the rotating plate 3012 can be driven to rotate counterclockwise.

[0042] The rotating disk 3014 includes a rotating base 30141 and a rotating top disk 30142. The rotating module 3 has a rotating top disk 30142 at the top and a rotating base 30141 at the bottom, which can be connected to the front and rear drive module flanges, respectively. The rotating top disk 30142 is connected to the rotating plate 3012. The rotating base 30141 is connected to the fixed plate 3015.

[0043] The rotational stiffness holding unit 302 is located on the opposite side of the rotational drive unit 301, with one set on each side. Each set includes a first rotational holding plate 3021, a second rotational holding plate 3022, and a third rotational holding plate 3023.

[0044] One end of the rotational stiffness retaining unit 302 is hinged to the rotating disk 3014, and the other end is hinged to the rotating plate 3012.

[0045] The first rotating holding plate 3021, the third rotating holding plate 3023 and the upper holding plate 2021 have the same basic structure, from the outside to the inside: hard substrate layer → electrode layer → soft film layer; The second rotating retaining plate 3022 has the same basic structure as the middle retaining plate 2022. From the outside to the inside, the two sides are the middle plate soft film layer → middle plate electrode layer → floating base layer, and the middle plate rigid base layer with elastic thin support layer.

[0046] Stiffness locking: There are grooves between the retaining plates, which can only slide relative to each other in one direction. When a voltage is applied to the three retaining plates, opposite voltages are applied between the third rotating retaining plate 3023 and the first rotating retaining plate 3021 and the second rotating retaining plate 3022, generating electrostatic attraction force. The thin support layer deforms, causing the soft film layer to fit tightly together and frictionally lock the rotating plate 3012 in the current position, preventing it from rotating.

[0047] Unlock: After power is cut off, the friction disappears, and the rotating plate 3012 resumes free rotation.

[0048] A multi-module space robot with variable configuration and stiffness is constructed from end effectors at both ends and multiple functional modules connected in series. The functional modules include a linear module for axial extension and deflection, and a rotary module for rotation around an axis. Both types of modules employ electrostatic hydraulic drive and electrostatic adsorption stiffness-maintaining units, allowing switching between flexible motion and high-stiffness locking. The drive unit generates a circumferential driving force through the directional flow of dielectric fluid within a liquid bladder under voltage, achieving axial contraction and deflection. The stiffness-maintaining unit uses electrostatic adsorption to bond multiple layers together, generating friction to achieve high-stiffness configuration locking. Through coordinated control, the robot achieves composite motion and precise attitude adjustment within three-dimensional space. This invention combines high compliance with high stiffness retention capabilities, making it suitable for scenarios such as confined space exploration in spacecraft and on-orbit operations.

[0049] The contents not described in detail in this specification are common knowledge to those skilled in the art.

[0050] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A multi-module space robot with variable configuration and variable stiffness, characterized in that, It includes two end effectors (1) and several functional modules connected in series between the two end effectors (1); the functional modules include a linear module (2) and a rotary module (3); the linear module (2) is used to realize axial extension and deflection motion, and the rotary module (3) is used to realize rotation motion around the axis; both types of modules are integrated with electrostatic hydraulic drive structure and electrostatic adsorption stiffness holding unit to achieve high stiffness configuration locking in the energized state.

2. The multi-module space robot according to claim 1, characterized in that, The linear module (2) includes a linear driving unit (201) and a linear stiffness maintaining unit (202); the linear driving unit (201) is a rectangular frame structure with multiple distributed liquid bladder array substructures (2011) inside. The liquid bladders in the liquid bladder array substructures (2011) include a dielectric film layer, a flexible electrode layer, an insulating layer, and a dielectric fluid; after applying voltage, the dielectric fluid is driven by electrostatic attraction to flow towards the electrodeless side, causing the part of the liquid bladder without the flexible electrode layer to expand, and pushing the frame towards the center through the circumferential stacking structure to achieve axial shortening; after power is cut off, the structure elastically resets; the dielectric film layer ensures that the flexible electrode layers always maintain an insulating state; The linear stiffness holding unit (202) is disposed around the linear drive unit (201) and includes two sets of stiffness holding arrays arranged symmetrically on the left and right. Each set includes an upper holding plate (2021), a middle holding plate (2022) and a lower holding plate (2023). The upper holding plate (2021) and the lower holding plate (2023) are composed of a soft film layer (20211), an electrode layer (20212) and a hard base layer (20213). The middle holding plate (2022) is composed of a middle plate soft film layer (20221)-middle plate electrode layer (20222)-floating base layer (20223) structure on both sides and a middle plate rigid base layer (20224) with an elastic thin support layer in the middle. After power is applied, electrostatic adsorption force is generated between the middle holding plate and the upper and lower holding plates, which causes the soft film to adhere and form friction lock, thereby achieving high stiffness locking. After power is cut off, it returns to a compliant state.

3. The multi-module space robot according to claim 2, characterized in that, The linear drive unit (201) also includes a drive unit base (2013) and several plates (2012); the plates (2012) are distributed on both sides, each plate is composed of 3 small plates and a hinge, and the plates are fixed to the drive unit base (2013) by the hinge. The hinge between the plate and the drive unit base (2013) contains a coil spring, which makes the plate and the drive unit base form a 90° angle in the natural state; 4 sets of liquid bladder array substructures (2011) are arranged near the drive unit base (2013) of the plate (2012), each set containing several stacked liquid bladders.

4. The multi-module space robot according to claim 2, characterized in that, The dielectric fluid inside the liquid bladder is a silicone oil-based liquid.

5. The multi-module space robot according to claim 2, characterized in that, The axial shrinkage control method is as follows: voltage is applied synchronously to each liquid bladder of all liquid bladder array substructures (2011) on the flexible electrode layer. The part of the liquid bladder containing the flexible electrode layer will generate electrostatic attraction between the upper and lower flexible electrode layers, which will exert a squeezing effect on the dielectric fluid between the upper and lower dielectric film layers, causing the dielectric fluid to flow to the right electrodeless area, the right side of the liquid bladder expands, and the stacked liquid bladders generate a pushing force on each other, which will push the part of the plate (2012) close to the drive unit base (2013) to rotate, thereby causing the symmetrically arranged drive unit base (2013) to shrink towards the center; after power failure, the liquid bladder elastically rebounds, the dielectric fluid flows back, and the module returns to the elongated state.

6. The multi-module space robot according to claim 1, characterized in that, The rotation module (3) includes a rotation drive unit (301) and a rotation stiffness holding unit (302); the rotation drive unit (301) includes a rotation plate (3012), a rotation shaft (3013), a rotation disk (3014) and liquid bladder array substructures (3011) symmetrically arranged on both sides of the rotation plate; applying voltage to either side of the liquid bladder array substructure can drive the rotation plate to rotate around the shaft, and the rotation direction and angle can be precisely controlled by adjusting the voltage difference between the two sides; The rotational stiffness holding unit (302) is located on the opposite side of the rotational drive unit (301), and includes two sets of stiffness holding arrays arranged symmetrically on the left and right. One end is hinged to the rotating disk (3014), and the other end is hinged to the rotating plate (3012). Each set includes a first rotational holding plate (3021), a second rotational holding plate (3022), and a third rotational holding plate (3023). The first rotational holding plate (3021) and the third rotational holding plate (3023) have the same structure as the upper holding plate (2021). The second rotational holding plate (3022) has the same structure as the middle holding plate (2022). After being powered on, the third rotational holding plate generates an electrostatic adsorption force with the first rotational holding plate (2022), and the rotation angle is locked by the friction of the soft film. After being powered off, the rotational freedom is restored.

7. The multi-module space robot according to claim 6, characterized in that, The rotating module (3) can be arranged in series in multiples, and can be placed between any two linear modules or located near the end of the robot; its rotating disk (3014) includes a rotating base (30141) and a rotating top disk (30142), which are connected to adjacent modules or end effectors (1) through mechanical interfaces to realize the overall rotation control of all subsequent modules.

8. The multi-module space robot according to claim 6, characterized in that, The stiffness locking method is as follows: there are grooves between the retaining plates, which can only slide relative to each other in one direction. When a voltage is applied to the three retaining plates, the third rotating retaining plate (3023) is subjected to opposite voltages with the first rotating retaining plate (3021) and the second rotating retaining plate (3022), generating electrostatic adsorption force. The thin support layer deforms to make the soft film layer fit tightly, and friction locks the rotating plate (3012) in the current position, which cannot be rotated.

9. The multi-module space robot according to claim 1, characterized in that, The linear modules (2) and the rotary modules (3) are connected in series along the axial direction to form the robot body. Each module independently controls the driving state and stiffness locking state. By coordinating the extension and deflection motion of the linear modules and combining the rotational motion of the rotary modules around the axis, the robot as a whole can adjust its configuration, control its posture and align the end effector (1) to the target in three-dimensional space. The end effector (1) is a gripper-type structure used to grasp the target object.

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