A light-weight and expandable spatial truss-type capture manipulator

Abstract

The invention provides a lightweight flexible space truss type catching manipulator. The manipulator includes a base and a manipulator claw, and the manipulator claw comprises a plurality of successively connected folding units; each folding unit comprises two T-shaped trusses arranged up and down, and each T-shaped truss comprises a supporting rod and a connecting rod. The two supporting rods ofthe same folding unit are parallel to each other, and the two supporting rods are connected through a shears-fork type catching mechanism, two connection rods of the same folding unit are located on the same plane, and every two connection rods are connected through a driving branch chain. The catching mechanism includes two same telescopic shears-fork rods and two same inverted shears-fork rods.The middles of the two telescopic shears-fork rods are hinged mutually to form a shears-fork structure, and the drive branch chain is a straight-line telescopic drive branch chain. The manipulator issimple in structure and light, and the length of the manipulator claw can be controlled by reducing and increasing the number of the folding units, and the catching task to complete large space mass non-cooperative targets.

Description

technical field [0001] The invention belongs to the technical field of spatial mechanism manipulation, and more specifically relates to a lightweight and expandable spatial truss-type capture manipulator with modular design. Background technique [0002] Space agency manipulation technology refers to the use of space platforms to operate specific on-orbit targets with or without the participation of people in space, such as space garbage collection, debris cleaning, space attack and defense, large-scale space observation, long-distance detection, Technologies for non-cooperative target tracking and acquisition, auxiliary orbit change, fault repair, assembly and construction, on-orbit rescue and other related operations. However, the existing space truss mechanism still has the following problems: the space expandable mechanism can construct a large structure of tens of meters or even hundreds of meters, but it cannot be manipulated on-orbit due to its low mobility; the varia...

AI Technical Summary

Problems solved by technology

However, the existing space truss mechanism still has the following problems: the space expandable mechanism can construct a large structure of tens of meters or even hundreds of meters, but it cannot be manipulated on-orbit due to its low mobility; the variable geometry truss mechanism can realize relatively The rigid-flexible hybrid mechanism is difficult to achieve complex shape control; the modular spacecraft can obtain different types of structures through the reorganization of modules, but it does not have a variety of controllable activities, and the reconfiguration Processes often require assisting robots to implement

[0003] Chinese patent document 201410056414.6 discloses an expandable underactuated cable-bar truss gripper, which relates to a modular gripper that can be used to grab objects of different shapes in space to solve the traditional underactuated mechanism and the heavy weight of the SARAH gripper , complex structure, poor adaptability to the shape of the grasped target object, small grasping force, and difficult expansion of SARAH claws, which include front-end connection devices, inter-rod corner limit mechanisms, end-cable trusses, ropes, and more a positioning column and a plurality of expandable modular cable-strut trusses; The two support plates on the same side in the vertical direction are pierced with rope shafts, and the output shaft of the motor is vertically arranged and connected to the corresponding rope shaft; each of the expandable modular cable rod trusses includes two rope shafts , twelve friction damping metal sheets and six connecting rods

In this prior art, the manipulator occupies a large space, does not have the function of folding and unfolding, and it is difficult to control the stiffness. The drive adopts a servo motor, and its control is complicated and the structure is heavy. It is necessary to carry out a corresponding structural design for the arrangement of the motor. For space capture For the manipulator, more lightweight design should be done, and the rotation of the motor is difficult to provide a large grasping force

The invention does not take into account the function of folding and unfolding due to the volume occupied, it does not have metamorphic movement, and the stability of the parallelogram structure is poor

[0004] Based on this, the present invention proposes a foldable spatial truss-type capture manipulator that can be modularized and has the advantages of light weight, aiming to solve the problem of capturing large-mass non-cooperative targets in space

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