Soft touch joint based on joint cross structure

Abstract

The invention relates to the field of space robot researching and engineering, in particular to a soft touch joint based on a joint cross structure. The soft touch joint based on the joint cross structure comprises a driving transmission mechanism, a damping assembly and a sensing component. The driving transmission mechanism comprises motor driving units, controllers, inner shells, outer shells, sliding blocks, sliding rails and the like. The damping assembly comprises linear type magnetorheological dampers, clutches, rotary type magnetorheological dampers, spring mechanisms, torsion spring mechanisms and the like. The sensing component comprises encoders, linear displacement sensors and the like. The mechanical arm joint mainly utilizes the clutches and the magnetorheological dampers in the damping assembly to control the total flexibility of the soft touch joint, mutual conversion between a pitching and yawing two-freedom-degree rigidity driving function and space six-dimensional momentum unloading can be achieved according to operation tasks, and therefore soft touch of space operations is achieved.

Description

Technical field [0001] The invention relates to the field of space robot research and engineering, in particular to a soft contact joint based on a cross shaft structure. Background technique [0002] With the development of space science and technology, the development and utilization of space energy in the future has become a trend. The expansion of new space equipment based on space interactive docking technology has formed a consensus. Space docking technology and its operating mechanism have become an important research in space technology. The field is a key technology for space on-orbit services and an important part of the future construction of space stations. To realize space rendezvous and docking technology, we must first consider the collision between the docking mechanisms of two spacecraft. In the process of space rendezvous and docking, two spacecrafts often contact and collide with each other, and the momentum transfer is asymmetrical. In order to avoid unnecess...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the problem of energy impact during the contact operation of the existing space robot and the stepwise transfer of energy between the two spacecraft under various complex space conditions, and provides a soft contact joint based on the cross-axis structure, which not only realizes the rigidity of the existing space robot The motion planning function of the joints can also realize smooth soft contact during the contact process of the spacecraft, reduce various risks caused by the hard contact of the current space operation, and expand the applicability of the space robot operation

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