The invention discloses a self-adaptive capturing and despinning device which comprises a base assembly, a finger mechanism, a driving and control assembly and an information sensing assembly. The base assembly can rotate and despin, so that rotary winding of the input cable is reduced; more than three finger mechanisms are arranged on the outer surface of the base assembly and used for capturinga captured target; each finger mechanism is connected with the driving and control assembly, and the driving and control assembly can independently drive and control the three or more finger mechanisms to enable the finger mechanisms to capture a captured target in a self-adaptive mode. Each finger mechanism is provided with an information sensing assembly used for monitoring the rotating angle ofthe corresponding finger mechanism and the contact force between the finger mechanism and a captured target and feeding back the rotating angle and the contact force to the driving and control assembly used for driving and controlling the assembly to adjust the contact force and the rotating angle captured by the finger mechanism. Wherein the input cable is used for supplying power to the drivingand control assembly by an external power supply.

    本发明公开了一种自适应抓捕消旋装置,包括:底座组件、手指机构、驱动和控制组件及信息感知组件;所述底座组件能够自转消旋,以减少输入电缆旋转缠绕;底座组件外表面设置三个以上手指机构,用于捕获抓捕目标;每个手指机构与所述驱动和控制组件相连,驱动和控制组件能够分别对三个以上手指机构进行独立驱动和控制,使其自适应捕获抓捕目标;每个手指机构上设置信息感知组件,用于监测对应手指机构的转动角度及其与抓捕目标之间的接触力,并反馈给驱动和控制组件,用于驱动和控制组件调节手指机构抓捕的接触力和转动角度;其中,输入电缆用于外部电源向驱动和控制组件供电。


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    Titel :

    Self-adaptive capturing and despinning device


    Weitere Titelangaben:

    一种自适应抓捕消旋装置


    Beteiligte:
    ZHANG XIAODONG (Autor:in) / TAN CHUNLIN (Autor:in) / LUO MIN (Autor:in) / WANG NING (Autor:in) / WANG YAOBING (Autor:in) / GAO ZHENLIANG (Autor:in) / LIU YONGJIAN (Autor:in) / LIU XUE (Autor:in)

    Erscheinungsdatum :

    2021-02-02


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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