Continuous-type arm group capture mechanism facing a non-cooperative target

Abstract

The invention discloses a continuous-type arm group capture mechanism facing a non-cooperative target, which comprises a capturing device and a driving device. The capturing device comprises nine under-actuated continuous manipulator arms fixedly connected on the driving case cover by two inner and outer rings. Three and six outer rings are respectively arranged along the circumferential direction. Each manipulator comprises a silica gel sleeve, a central skeleton formed by a plurality of rigid connecting rods in series, a driving soft wire passing through a wire-passing hole of the rigid connecting rod to realize the bending of the manipulator, and a driving soft wire passing through a central hole of the rigid connecting rod to change the rigidity of the manipulator, wherein the drivingsoft wire passes through a wire-passing hole of the rigid connecting rod to realize the bending of the manipulator; Each manipulator has a rotating hinge hinged by adjacent rigid links bent in a fixeddirection and a spherical hinge bent in any direction so that the manipulator can passively accommodate targets of a certain size and shape. The present invention allows the target to enter from thetop and side of the capture mechanism at almost any angle, and the capture mechanism is able to perform well even if an individual manipulator fails.

Description

Technical field [0001] The invention relates to a non-cooperative target capturing device, in particular to a continuous arm group capturing mechanism oriented to non-cooperative targets, which is suitable for capturing non-cooperative targets in the air, on the ground and under water. Background technique [0002] Non-cooperative targets refer to objects to be captured, such as out-of-control satellites, space junk, atmosphere, and underwater floating objects, which are widely present in space, ground, water, and underwater, and no special mechanism for the capture of robotic arms is installed on them And the cooperation markers and feature blocks used for auxiliary measurement cannot perform attitude control or provide effective cooperation information. It is embodied in irregular structural features, uncooperative maneuvering behavior, and non-communication at the information level. [0003] At present, traditional rigid capture mechanisms and most flexible capture mechanisms r...

AI Technical Summary

Problems solved by technology

[0003] At present, the traditional rigid capture mechanism and most flexible capture mechanisms require extremely high pose accuracy during the capture process, and any small error may cause capture failure, which increases the difficulty of system control; the repeatability of the net capture mechanism is low. Poor; the rigidity of the capture mechanism is poor, and it is easy to generate a large impact when contacting and colliding, which is very easy to cause damage to the target and the capture mechanism; although the flexible capture mechanism has strong shape adaptability, it has insufficient rigidity and load capacity The problem

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