A space capture robot based on sma wire drive

Abstract

The invention provides a space capture manipulator driven by SMA (shape memory alloy) wires. A slide rod retainer is installed on a driver rack, and a plurality of slide rods are slidably connected with the slide rod retainer through a plurality of slide rod pins. A fixed end and the plurality of slide rods are sequentially connected by the SMA wires. The end slide rod of the slide rods, a drivingrod and an offset spring are sequentially connected. Guide rails are arranged below the rack and parallel to an output end slide rod. Two linear bearings are both slidably connected with the guide rails, the two linear bearings on one side are connected with the lower surfaces of clamping arms, the upper surfaces of the clamping arms are fixedly connected with the lower surface of the driving rod, and the clamping arms on two sides are connected through a cross shear hinge coupling transmission mechanism, which is fixedly connected with the rack through a fixing hinge. Two groups of mechanical claws are installed on two clamping arms respectively. Capture is performed in a parallel clamping manner, the driving part performs drive linearly through the SMA wires, so that the linear actuation characteristic of the memory alloys is fully exerted, and capture speed and clamping force of the manipulator are improved.

Description

technical field [0001] The present invention relates to a space capture manipulator, in particular to a space capture manipulator driven by SMA wires. Background technique [0002] In recent years, with the rapid development of space on-orbit services (on-orbit life extension and on-orbit maintenance, etc.), space debris removal and space countermeasures, these technologies all rely to a large extent on the on-orbit capture technology of space non-cooperative targets. A manipulator is usually an end effector connected to the end of a manipulator to capture space targets. Manipulators currently used in space can be divided into three types: rigid manipulators, underactuated manipulators, and flexible manipulators. At present, most of the manipulators used in space use motors, pneumatics or hydraulics as drives, requiring a series of additional mechanisms such as reducers, air pumps or hydraulic machines, and in special space environments, such as vacuum, high and low temperat...

AI Technical Summary

Problems solved by technology

However, if the SMA spring is used as the driving source, its output force will be greatly reduced, and it will be more difficult to actuate by self-heating when energized. The cooling speed of the SMA spring is slow when it is reset, which seriously reduces the working efficiency and mechanical efficiency.

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