The invention relates to a spatial manipulator structure capable of stably grabbing. The spatial manipulator structure comprises two drive devices of the same structure and arranged at the front end and the tail end of a spatial manipulator respectively and a driven device. The driven device between the two drive devices contains a magnetorheological fluid damper structure capable of buffering the kinetic energy from the axial force and the radial force, and it can be effectively guaranteed that a target satellite is grabbed stably and precisely through the whole structure. The spatial manipulator structure has the advantages that the target satellite in the space can be grabbed stably and reliably on the dependence of the manipulator structure; after the target satellite is grabbed, negative energy brought by grabbing the target satellite can be buffered on the dependence of a magnetorheological fluid damper and spring damping, and a stable whole satellite base is guaranteed.
Spatial manipulator structure capable of stably grabbing
2015-07-01
Patent
Elektronische Ressource
Englisch
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