A variable configuration spatially flexible envelope capture mechanism

Abstract

The present application relates to the technical field of space robots, and particularly relates to a variable-configuration space flexible envelope capturing mechanism, which comprises a palm frame module and four capturing finger modules uniformly distributed in the circumferential direction. A variable-configuration execution unit is arranged at the root of the capturing finger module, which is used for driving the four fingers to deflect cooperatively, so as to realize the active variable-configuration function of the whole mechanism. Three elastic driving joints are arranged in the capturing finger module, which are mutually parallel. The joints are internally integrated with a tensile spring, a rotary magneto-rheological damper and a clutch. During the execution of the capturing task, multiple requirements such as flexible buffering, vibration suppression, damping control and rigid retention are taken into account. In addition, by using the inherent mechanical properties of the tensile spring and the rotary magneto-rheological damper, the self-sensing function of the joint load torque can be realized without adding an additional torque sensor, which is helpful to realize precise force control and flexible capturing, and significantly reduces the hardware complexity and integration cost of the system.

Description

Technical Field

[0001] This invention relates to the field of space robotics technology, specifically a flexible space envelope capture mechanism with variable configuration, which is particularly suitable for situations where it is necessary to adapt to the shape of the target spacecraft and buffer the impact load of capture. Background Technology

[0002] With the development of aerospace technology, the need for on-orbit capture of non-cooperative targets such as defunct satellites and space debris is becoming increasingly urgent. These targets typically lack dedicated docking interfaces, their mass and size are uncertain, and they may also exhibit residual tumbling motion.

[0003] Traditional rigid capture mechanisms with a single configuration generally have limitations in terms of target adaptability and contact compliance when facing complex and unknown targets. First, fixed-configuration capture mechanisms are inherently less adaptable, being highly sensitive to changes in the target's shape and relative motion. When the contact area and envelope between the capture mechanism and the target cannot be flexibly adjusted based on prior information and real-time contact conditions, problems such as capture attitude mismatch and insufficient effective contact area easily occur, making it difficult to establish a stable and reliable physical connection between the service spacecraft and the target spacecraft, ultimately leading to capture failure or target slippage. Furthermore, rigid capture structures often generate significant impact loads when contacting non-cooperative targets, potentially causing target ejection, structural damage, and even interfering with the attitude stability of the service spacecraft. Moreover, rigid capture lacks an effective elastic yielding mechanism during envelope tightening; once over-constraint or jamming occurs, irreversible structural damage can easily occur to the target or the capture mechanism.

[0004] To address the aforementioned bottlenecks, there is an urgent need for an adaptive flexible capture mechanism that can actively adapt to the target's shape, adjust its envelope configuration in real time, and effectively buffer impact loads during capture and contact. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides a spatial flexible envelope capture mechanism with variable configuration, adopting the following technical solution:

[0006] First, a spatially flexible envelope capture mechanism with variable configuration is characterized by comprising a palm frame module 102 and four identical capture finger modules 101.

[0007] The finger-capturing module 101 comprises a modulating execution unit 201, an elastic drive joint 202, a first link 203, a second link 204, and a third link 205. Preferably, the finger-capturing module 101 has three identical elastic drive joints 202; from the overall connection relationship inside the finger-capturing module 101, the modulating execution unit 201 is connected to the first link 203, the first link 203 is connected to the second link 204, and the second link 204 is connected to the third link 205 by an elastic drive joint 202.

[0008] The variable-structure execution unit 201 comprises an arc-shaped gear ring 301, a base plate 302, a variable-structure motor 303, an arc-shaped guide rail 304, a connecting rod 305, a transmission gear 306, and an arc-shaped slider 307. The arc-shaped gear ring 301 and the arc-shaped guide rail 304 are both mounted on the base plate 302. The connecting rod 305 is connected to the stator of the elastic drive joint 202, the arc-shaped slider 307, and the variable-structure motor 303, respectively. The transmission gear 306 is connected to the rotor of the variable-structure motor 303. The transmission gear 306 meshes with the arc-shaped gear ring 301, forming a gear pair. The arc-shaped slider 307 cooperates with the arc-shaped guide rail 304, forming a sliding pair. The arc-shaped gear ring 301 and the arc-shaped guide rail 304 are concentrically arranged, with their centers coinciding at point O, and their corresponding central angles are all equal to 0. .

[0009] The palm frame module 102 includes an integrated mounting plate 401 and a connecting flange 402, which are rigidly connected.

[0010] The elastic drive joint 202 includes a drive transmission assembly, a compliance assembly, a sensing assembly, and an interface assembly. The drive transmission assembly includes a drive motor module 510, a drive shaft 511, a crossed roller bearing 512, a first transmission flange 505, and a second transmission flange 513. The compliance assembly includes a tension spring 514 and a rotary magnetorheological damper 515. The sensing assembly includes a motor encoder 509 and an output encoder 516. The interface assembly includes an input interface assembly and an output interface assembly; the input interface assembly includes an input end cover 501, an input interface housing 502, and a clutch 503; the output interface assembly includes a support flange 504, a support column 506, an output interface housing 507, and an output end cover 508.

[0011] The stator of the motor encoder 509 is connected to the stator of the drive motor module 510; the two ends of the rotor of the drive motor module 510 are connected to the drive shaft 511 and the rotor of the motor encoder 509, respectively; the drive shaft 511 is further connected sequentially to the crossed roller bearing 512, the first drive flange 505, and the second drive flange 513. To ensure the compactness and simplicity of the mechanical mechanism, the first drive flange 505 and the second drive flange 513 have identical structures, are symmetrically assembled along the rotation axis AB, and respectively form a surface fit with the drive shaft 511; a predetermined gap is left between the first drive flange 505 and the second drive flange 513, and a clamping force is applied between them and the drive shaft 511 using screws to achieve a reliable connection. The stator of the output encoder 516 is connected to the stator of the rotary magnetorheological damper 515; the two ends of the rotor of the rotary magnetorheological damper 515 are connected to the drive shaft 511 and the rotor of the output encoder 516, respectively.

[0012] Furthermore, the input end cover 501, clutch 503, and stator of drive motor module 510 are all mounted on input interface housing 502; the stator of rotary magnetorheological damper 515 is mounted on output interface housing 507; additionally, support flange 504 is connected to output interface housing 507 via support column 506. Support flange 504 is connected to the outer ring of crossed roller bearing 512, and drive shaft 511 is connected to the inner ring of crossed roller bearing 512, allowing relative rotation between the inner and outer rings. Furthermore, elastic drive joint 202 comprises six identical sets of support columns 506 and tension springs 514, evenly distributed circumferentially along rotation axis AB; one end of each tension spring 514 is connected to the support column 506, and the other end is connected to the corresponding first drive flange 505 or second drive flange 513.

[0013] From the perspective of the overall connection relationship within the elastic drive joint 202, the compliant component spans between the drive transmission component and the output interface component, wherein the tension spring 514 and the rotary magnetorheological damper 515 share the input and output ends. The drive transmission component is connected to the input interface component; the input interface component is connected to the upper-level linkage or the variable-structure actuator 201 through the standardized input interface on the input interface housing 502; the output interface component is connected to the lower-level linkage through the standardized output interface on the output interface housing 507.

[0014] Furthermore, all four finger-capturing modules 101 are mounted on the palm frame module 102 via the base plate 302 and are evenly distributed along its circumference. The directions of the four finger-capturing modules 101 are represented by OC, OD, OE, and OF, respectively, and their relative angles are respectively denoted by _____. , , and This indicates that the included angle satisfies the equality constraint: Furthermore, the variable-configuration motor 303 drives the transmission gear 306 to rotate. Through the meshing relationship between the transmission gear 306 and the arc-shaped gear ring 301, the assembly consisting of the variable-configuration motor 303, the connecting rod 305, the arc-shaped slider 307, the transmission gear 306, the elastic drive joint 202, the first connecting rod 203, the second connecting rod 204, and the third connecting rod 205 rotates around an axis passing through the center O and perpendicular to the palm frame module 102. This changes the relative angles between the capturing finger modules 101, achieving a variable configuration function. Thus, the capturing mechanism can actively adjust the spread angle and spatial layout of the four fingers before and during capture, forming a matching envelope configuration, based on the shape, size, and movement state of different non-cooperative targets.

[0015] Furthermore, the input interface component in the elastic drive joint 202 can be rigidly engaged or disengaged from the output interface component through the clutch 503, thereby allowing the elastic drive joint 202 to switch between a flexible working mode and a rigid working mode, and thus enabling the entire capture mechanism to switch between a flexible working mode and a rigid working mode.

[0016] Furthermore, by adjusting the excitation current of the rotary magnetorheological damper 515, the magnitude of its output damping torque can be dynamically controlled, thereby meeting the differentiated requirements of the capture mechanism for joint dynamic behavior at different task stages.

[0017] Furthermore, by utilizing the inherent mechanical properties of the internal tension spring 514 and the rotary magnetorheological damper 515 of the elastic drive joint 202, the self-sensing function of joint torque can be realized without adding an additional torque sensor.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. This invention has the capability of active configuration change, which can flexibly adjust the spatial layout and overall envelope configuration of each capture finger module according to the geometric characteristics and motion state of different targets, taking into account both the large-scale capture tolerance and reliable locking requirements. It can improve the adaptability and mission flexibility of the capture mechanism to diverse non-cooperative targets and effectively reduce the risk of target escape.

[0020] 2. This invention introduces controllable compliance and rigidity-flexibility transition characteristics at the joint level, balancing multiple requirements such as compliant buffering, vibration suppression, damping control, and rigidity maintenance during capture missions. It effectively avoids overload damage or target ejection caused by rigid collisions and enhances mission adaptability under complex conditions.

[0021] 3. This invention has the ability to self-sensing joint torque without relying on additional sensors, which helps to achieve precise force control, while reducing the hardware complexity, weight and integration cost of the system, meeting the requirements of space missions for lightweight and high reliability. Attached Figure Description

[0022] Figure 1 An exploded view of the overall structure of a variable-configuration spatial flexible envelope capture mechanism provided by the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the finger-capturing module in a variable-configuration spatial flexible envelope capture mechanism provided by the present invention;

[0024] Figure 3 A schematic diagram of the structure of the variable configuration execution unit in a variable configuration spatial flexible envelope capture mechanism provided by the present invention;

[0025] Figure 4 This is a schematic diagram of the hand frame module in a variable configuration spatial flexible envelope capture mechanism provided by the present invention;

[0026] Figure 5 A schematic diagram of the elastic drive joint in a variable-configuration spatial flexible envelope capture mechanism provided by the present invention;

[0027] Figure 6 A partial structural diagram of the elastically driven joint in a variable-configuration spatial flexible envelope capture mechanism provided by the present invention;

[0028] Figure 7 An overall structural assembly diagram of a variable-configuration spatial flexible envelope capture mechanism provided by the present invention;

[0029] Figure 8 A schematic diagram of the spring torque principle provided in an embodiment of the present invention;

[0030] Figure 9 This is a schematic diagram of the configuration for capturing a square non-cooperative target according to an embodiment of the present invention;

[0031] Figure 10 This is a schematic diagram of the configuration for capturing a cylindrical non-cooperative target according to an embodiment of the present invention.

[0032] The labels in the attached diagram are explained as follows:

[0033] The components include: a finger capture module 101, a palm frame module 102, a variable mechanism execution unit 201, an elastic drive joint 202, a first link 203, a second link 204, a third link 205, an arc gear ring 301, a base plate 302, a variable mechanism motor 303, an arc guide rail 304, a transition link 305, a transmission gear 306, an arc slider 307, an integrated mounting plate 401, a connecting flange 402, an input end cover 501, an input interface housing 502, a clutch 503, a support flange 504, a first transmission flange 505, a support column 506, an output interface housing 507, an output end cover 508, a motor encoder 509, a drive motor module 510, a transmission shaft 511, a crossed roller bearing 512, a second transmission flange 513, a tension spring 514, a rotary magnetorheological damper 515, an output encoder 516, a square non-cooperative target 901, and a cylindrical non-cooperative target 1001. Detailed Implementation

[0034] To better understand the technical solution of the present invention, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings:

[0035] In one embodiment of the present invention, such as Figure 1 and Figure 7 As shown, the four finger-capturing modules 101 are distributed circumferentially around the palm frame module 102. Each finger-capturing module 101 has independent deformable adjustment capability and multi-joint flexible compliance capability. The orientations of the four finger-capturing modules 101 are represented by OC, OD, OE, and OF, respectively, and the relative angles between them are denoted by _____. , , and This indicates that the included angle satisfies the equality constraint: Before capturing the target spacecraft, the system pre-calculates the required four-finger spread angle and envelope configuration based on the target's shape, size, and attitude information obtained through vision or other sensing means. Each variable-configuration execution unit 201 drives the corresponding capture finger module 101 to rotate around the central axis of the palm frame module 102 to adjust the relative angle between adjacent capture finger modules 101, so that the envelope space formed by the four fingers can accommodate the target without collision.

[0036] like Figure 2As shown, the variable-structure execution unit 201 is mounted on the integrated mounting plate 401 of the palm frame module 102, providing base support and variable-structure drive for the finger-capturing module 101. The first link 203, the second link 204, and the third link 205 are connected in series through three elastic drive joints 202, forming a three-degree-of-freedom series structure. During the capture process, the drive motor module 510 in each elastic drive joint 202 drives the corresponding transmission shaft 511 to rotate, transmitting the driving torque to the output end through the compliant component, causing the links to rotate relative to each other, thereby driving the finger-capturing module 101 to gradually retract inward, contacting and enveloping the target surface. When contacting the target surface, the tension spring 514 connected in series in the transmission chain undergoes passive elastic deformation, providing compliant buffering capability for the finger-capturing module 101 and effectively buffering the contact impact.

[0037] like Figure 3 As shown, the rotor of the variable-structure motor 303 directly drives the transmission gear 306 to rotate, and the transmission gear 306 meshes with the arc-shaped gear ring 301 fixed to the base plate 302. Since the arc-shaped gear ring 301 is stationary, the transmission gear 306, while rotating, drives the assembly consisting of the connecting rod 305, the arc-shaped slider 307, and the subsequent elastic drive joint 202, the first connecting rod 203, the second connecting rod 204, and the third connecting rod 205 to perform circular motion around an axis passing through the center O and perpendicular to the palm frame module 102. The sliding pair formed by the arc-shaped slider 307 and the arc-shaped guide rail 304 provides guidance and support during the movement, ensuring that the entire assembly moves smoothly along the predetermined arc trajectory.

[0038] like Figure 4 and Figure 7 As shown, the palm frame module 102 serves as the mounting platform for the entire capture mechanism, used to secure the four capture finger modules 101. The connecting flange 402 is used to mount the entire capture mechanism to the robotic arm or docking platform of the servicing spacecraft. The palm frame module 102 can integrate power supply, control circuitry, and communication modules as needed, providing power and control signals to each variable actuator 201 and elastic drive joint 202.

[0039] In one embodiment of the present invention, the input interface component in the elastic drive joint 202 can be rigidly engaged or disengaged from the output interface component via a clutch 503, thereby allowing the elastic drive joint 202 to switch between a flexible operating mode and a rigid operating mode. Specifically:

[0040] 1. When the clutch 503 is engaged, a rigid connection is formed between the input interface assembly and the output interface assembly. At this time, the drive transmission assembly and the compliant assembly are mechanically bypassed, the elastic drive joint 202 loses its driving capability and exhibits high stiffness characteristics, which enables reliable connection and precise positioning of the target spacecraft in the post-capture stage.

[0041] 2. When the clutch 503 is disengaged, the drive transmission assembly can output power through the compliant assembly, and the elastic drive joint 202 switches to the flexible working mode. At this time, the tension spring 514 and the rotary magnetorheological damper 515 work together to achieve passive compliance of the impact load and effective suppression of elastic vibration, which is suitable for the target acquisition stage.

[0042] In one embodiment of the present invention, by adjusting the excitation current of the rotary magnetorheological damper 515, the magnitude of its output damping torque can be dynamically controlled, thereby meeting the differentiated requirements of the capture mechanism for joint dynamic behavior at different task stages. Specifically:

[0043] 1. During the approach and pre-contact phase, the damping torque can be adjusted to a lower level to maintain a high level of flexibility and compliance in the elastic drive joint 202, so as to fully buffer the contact impact and protect the spacecraft structure.

[0044] 2. During the envelope tightening stage, the excitation current can be increased to improve the damping torque, accelerate the decay of residual oscillation, make each capture finger module 101 quickly reach a steady state, and form a reliable constraint force on the target surface to avoid loose connection or elastic vibration.

[0045] Through this phased, programmable damping control strategy, the present invention significantly improves the adaptability and mission reliability of the capture mechanism under complex working conditions.

[0046] In one embodiment of the present invention, by utilizing the inherent mechanical properties of the internal tension spring 514 and the rotary magnetorheological damper 515 of the elastic drive joint 202, the self-sensing function of the joint torque can be realized without adding an additional torque sensor. Specifically:

[0047] 1. The deformation of the tension spring 514 satisfies a defined Hooke's Law relationship with the load torque it experiences. The relative angle between the two ends of the compliant assembly is measured by the output encoder 516. Furthermore, the elastic restoring torque can be calculated in real time. Among them, the stiffness of tension spring 514 Ground calibration has been completed. It is the equivalent torsional stiffness of a spring assembly consisting of six tension springs 514. configuration and stiffness of the spring assembly and corner related.

[0048] 2. In addition, the rotary magnetorheological damper 515 is connected in parallel to both ends of the tension spring 514, and the damping torque it generates... It is another component of the total motor load. The magnitude of the damping torque depends on the excitation current. With relative angular velocity This invention is based on a positive model of a magnetorheological damper that has been precisely calibrated offline, and addresses the damping torque. Real-time estimation of relative angular velocity. From relative angle The relative angular velocity is obtained through numerical differentiation. To suppress the high-frequency noise generated by the differentiation calculation, the joint controller has a built-in filter to smooth the differential signal in order to obtain a stable estimate of the relative angular velocity.

[0049] 3. Further, the calculated elastic torque... With damping torque Adding them together gives the total load torque acting on the motor output. Therefore, by acquiring the relative rotation angle and angular velocity signals at both ends of the compliant component in real time, the external load torque borne by the joint can be estimated based on the spring deformation and the damper positive model. This self-sensing function helps to achieve precise force control and compliant grasping, while reducing the hardware complexity and integration cost of the system.

[0050] Preferably, the elastic restoring torque can be solved in the following way:

[0051] like Figure 8 As shown, assuming the original length of the tension spring 514 in equilibrium is... When the relative angle between the two ends of the compliant component is equal to At that time, the length of the tension spring 514 is Based on geometric relationships, the spring elongation can be obtained as follows:

[0052] in, The radius of the circle where the spring mounting points are located on the first transmission flange 505 and the second transmission flange 513. It is the radius of the circumference of the spring mounting point on support column 506.

[0053] Furthermore, the elastic restoring torque of a single spring about the rotation axis AB is:

[0054] Furthermore, the overall elastic restoring torque can be obtained as follows:

[0055] Therefore, the equivalent torsional stiffness is:

[0056] Preferably, the modified configuration capture method of the present invention is further explained for two different shapes of non-cooperative targets:

[0057] 1. Square non-cooperative targets (such as the body of a failed satellite): These targets have relatively regular planar features and angular structures, such as... Figure 9 As shown. For this type of target, during the approach phase, the four capturing finger modules 101 are first adjusted to an evenly distributed spread configuration, ensuring that each capturing finger module 101 corresponds to one side of the target. The spread size is pre-set based on the target envelope size estimated by the visual sensor to ensure that the square target can enter the envelope space formed by the fingers without collision. When the target enters the envelope range, the four fingers simultaneously tighten inward, and each of the elastic drive joints 202 undergoes passive flexible deformation upon contact with the target surface to buffer the contact impact and adaptively conform to the plane or edge of the square target. Subsequently, the configuration is fine-tuned according to the real-time contact state, so that the four fingers achieve a tight envelope from different sides of the target, and then the elastic drive joints 202 are switched to a rigid working mode to achieve reliable capture of the square target.

[0058] 2. Cylindrical non-cooperative targets (such as rocket debris, fuel tank shells, etc.): These targets have a continuous curved shape, with a uniform circumferential profile but potentially a long axial dimension, such as... Figure 10 As shown. For this type of target, during the approach phase, the four capturing finger modules 101 are first adjusted to an unfolded configuration with non-uniformly distributed finger angles to adapt to the projected contour of the cylinder in the field of view and ensure that the capturing finger modules 101 form an opposing envelope along the radial direction of the cylinder. The unfolded size is preset according to the target envelope size estimated by the visual sensor to ensure that the cylindrical target can enter the envelope space formed by the fingers without collision. When the target enters the envelope range, the four fingers tighten inward synchronously, and each of the elastic drive joints 202 generates passive flexible deformation when contacting the target surface to buffer the contact impact and allow each finger joint to adaptively fit along the curved surface. Subsequently, the included angle of each capturing finger module 101 is finely adjusted according to the real-time contact state, so that the four fingers form multi-point geometric constraints along the axial and circumferential directions of the cylinder, and then the elastic drive joints 202 are switched to rigid working mode to achieve reliable capture of the cylindrical target.

[0059] Preferably, the variable-structure motor 303 and the drive motor module 510 can be separate drive motors, or they can be an execution unit with rotational driving capability composed of a drive motor and a reducer, or other structural configurations that can achieve the same driving function and are well known to those skilled in the art.

[0060] Finally, it should be particularly noted that the preferred embodiments provided above are only used to explain the technical solutions of the present invention, and their descriptions are relatively specific and detailed, but they do not constitute a limitation on the application scope, protection scope, or other forms of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the concept of this application. These modifications or improvements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions disclosed in this invention, and should all be covered within the scope of the claims and specification of this invention.

Claims

1. A spatially flexible envelope capture mechanism with variable configuration, characterized in that, It includes a palm frame module and four identical finger-capturing modules; each finger-capturing module consists of a variable-structure execution unit, an elastic drive joint, a first link, a second link, and a third link; each finger-capturing module has three identical elastic drive joints; from the overall connection relationship inside the finger-capturing module, the variable-structure execution unit is connected to the first link, the first link is connected to the second link, and the second link is connected to the third link by an elastic drive joint; The variable-structure execution unit consists of an arc-shaped gear ring, a base plate, a variable-structure motor, an arc-shaped guide rail, a connecting rod, a transmission gear, and an arc-shaped slider. The arc-shaped gear ring and the arc-shaped guide rail are both mounted on the base plate. The connecting rod is connected to the elastic drive joint, the arc-shaped slider, and the stator of the variable-structure motor, respectively. The transmission gear is connected to the rotor of the variable-structure motor. The transmission gear meshes with the arc-shaped gear ring to form a gear pair. The arc-shaped slider cooperates with the arc-shaped guide rail to form a sliding pair. The arc-shaped gear ring and the arc-shaped guide rail are concentrically arranged, with their centers coinciding, and their respective central angles are both 90 degrees. The palm frame module includes an integrated mounting plate and a connecting flange, which form a rigid connection. The four finger-capturing modules are all mounted on the palm frame module via a base plate and are evenly distributed along its circumference. The relative angles between them are respectively... , , and This indicates that the included angle satisfies the equality constraint: The variable-configuration motor drives the transmission gear to rotate. Through the meshing relationship between the transmission gear and the circular arc gear ring, the assembly consisting of the variable-configuration motor, the adapter link, the circular arc slider, the transmission gear, the elastic drive joint, the first link, the second link, and the third link rotates around the axis passing through the center and perpendicular to the palm frame module, thereby changing the relative angle between each finger-capturing module and realizing the variable configuration function.

2. The variable-configuration spatial flexible envelope capture mechanism according to claim 1, characterized in that, The elastic drive joint includes a drive transmission assembly, a compliant assembly, a sensing assembly, and an interface assembly; the drive transmission assembly includes a drive motor module, a drive shaft, a crossed roller bearing, a first transmission flange, and a second transmission flange; the compliant assembly includes a tension spring and a rotary magnetorheological damper; the sensing assembly includes a motor encoder and an output encoder; the interface assembly includes an input interface assembly and an output interface assembly, the input interface assembly including an input end cover, an input interface housing, and a clutch; the output interface assembly includes a support flange, a support column, an output interface housing, and an output end cover.

3. The variable-configuration spatial flexible envelope capture mechanism according to claim 2, characterized in that, The stator of the motor encoder is connected to the stator of the drive motor module; the rotor of the drive motor module is connected at both ends to the drive shaft and the rotor of the motor encoder, respectively; the drive shaft is further connected to the crossed roller bearing, the first drive flange, and the second drive flange in sequence; the first and second drive flanges have the same structure, are symmetrically assembled along the center of the rotation axis, and respectively form a surface fit with the drive shaft; a predetermined gap is left between the first and second drive flanges, and a clamping force is further applied between them and the drive shaft by screws to achieve a reliable connection; the stator of the output encoder is connected to the stator of the rotary magnetorheological damper; the rotor of the rotary magnetorheological damper is connected at both ends to the drive shaft and the rotor of the output encoder, respectively; the input end cover, clutch, and stator of the drive motor module are all installed on the input interface housing; the stator of the rotary magnetorheological damper is installed on the output interface housing; The support flange is connected to the output interface housing via support columns; the support flange is connected to the outer ring of the crossed roller bearing, and the drive shaft is connected to the inner ring of the crossed roller bearing, allowing relative rotation between the inner and outer rings; the elastic drive joint comprises six identical support columns and tension springs, evenly distributed circumferentially along the rotation axis; one end of each tension spring is connected to the support column, and the other end is connected to the corresponding first or second drive flange; from the overall connection relationship inside the elastic drive joint, the compliant component spans between the drive transmission component and the output interface component, and the tension spring and the rotary magnetorheological damper share input and output ends; the drive transmission component is connected to the input interface component; the input interface component is connected to the upper-level linkage or variable-structure actuator via a standardized input interface on the input interface housing; the output interface component is connected to the lower-level linkage via a standardized output interface on the output interface housing.

4. The variable-configuration spatial flexible envelope capture mechanism according to claim 1, characterized in that, The input interface component in the elastic drive joint can be rigidly engaged or disengaged from the output interface component via a clutch, thereby allowing the elastic drive joint to switch between a flexible working mode and a rigid working mode, and thus enabling the entire capture mechanism to switch between a flexible working mode and a rigid working mode.

5. A spatial flexible envelope capture mechanism with variable configuration according to claim 1, characterized in that, By adjusting the excitation current of the rotary magnetorheological damper, the magnitude of its output damping torque can be dynamically controlled, thereby meeting the differentiated requirements of the capture mechanism for joint dynamic behavior at different task stages.

6. The variable-configuration spatial flexible envelope capture mechanism according to claim 1, characterized in that, By utilizing the inherent mechanical properties of the internal tension spring and rotary magnetorheological damper of the elastic drive joint, the self-sensing function of joint torque can be realized without adding an additional torque sensor.

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