The invention provides a space reconfigurable truss type capturing mechanism and a capturing method thereof.The space reconfigurable truss type capturing mechanism comprises a base and two reconfigurable truss type capturing fingers, and each reconfigurable truss type capturing finger comprises a butt joint plug truss unit, a butt joint connector truss unit, a plurality of modular extensible trussunits and a plurality of linear driving devices; the butt joint plug truss unit, the modular extensible truss units and the butt joint connector truss unit of each reconfigurable truss type capturingfinger are connected in sequence, and a linear driving device is connected between every two adjacent truss units of each reconfigurable truss type capturing finger. Butt joint or separation betweenthe capture fingers and the base and butt joint or separation between the two fingers can be achieved, and capture can be completed by selecting a two-finger cooperation mode or a mode that the two fingers are in butt joint to form a lengthened finger according to different requirements of capture tasks; butt joint expansion is achieved, the structure is simple, the weight is light, the capturingspace is large, and adaptability to captured objects is good.
本发明提供了一种空间可重构桁架式抓捕机构及其抓捕方法,抓捕机构包括基座和两个可重构桁架式抓捕手指,每个可重构桁架式抓捕手指均包括对接插头桁架单元、对接接口桁架单元、若干模块化可扩展桁架单元和若干直线驱动装置,每个可重构桁架式抓捕手指的一个对接插头桁架单元、若干个模块化可扩展桁架单元和一个对接接口桁架单元均顺次连接,每个可重构桁架式抓捕手指的相邻两桁架单元之间连接一直线驱动装置。本发明可实现抓捕手指与基座之间对接或分离,两手指之间对接与分离,可以根据抓捕任务的不同需求选择两手指协同的方式进行抓捕或两手指对接形成加长手指的方式完成抓取;对接扩展、结构简单,质量轻,抓捕空间大,对抓捕物体适应性好。
Space reconfigurable truss type capturing mechanism and capturing method thereof
空间可重构桁架式抓捕机构及其抓捕方法
2021-01-12
Patent
Elektronische Ressource
Chinesisch
IPC: | B64G Raumfahrt , COSMONAUTICS |
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