The invention discloses a satellite carrying a passive telescopic mechanical arm and a mechanical arm reconstruction method thereof, which relate to a satellite and a mechanical arm reconstruction method. A plurality of earth data transmission antennas and thrusters are fixed to the bottom of the effective load bin, solar cell sailboards are fixed to the bottom ends of the two sides, passive telescopic mechanical arms are fixed to the top ends of the two sides, and two adapters are fixed to the front side. The passive telescopic mechanical arm comprises a bottom fixing base, a first shoulder joint, a second shoulder joint, a third shoulder joint, a shoulder end telescopic arm rod, an elbow joint, a wrist end telescopic arm rod, a first wrist joint, a second wrist joint, a third wrist joint and a two-finger type tail end actuator, wherein the first shoulder joint, the second shoulder joint, the third shoulder joint, the shoulder end telescopic arm rod, the elbow joint, the wrist end telescopic arm rod, the first wrist joint, the second wrist joint and the third wrist joint are sequentially installed at the rear end of the bottom fixing base. The telescopic arm rod is provided with a locking mechanism and a wire take-up and pay-off mechanism. The passive telescopic structure reduces the structural complexity and the self mass, restrains the two-finger type tail end actuator to form a kinematics closed chain, adjusts the length of the arm lever through joint movement to achieve configuration change, and the reconstruction process is easier to control.
一种搭载被动式伸缩机械臂的卫星及其机械臂重构方法,涉及一种卫星及机械臂重构方法。有效载荷仓底部固定多个对地数传天线和推力器,两侧底端固定太阳能电池帆板,两侧顶端固定被动式伸缩机械臂,前侧固定两个适配器,被动式伸缩机械臂包括底部固定座以及依次安装在其后端的肩部第一关节、肩部第二关节、肩部第三关节、肩端伸缩臂杆、肘部关节、腕端伸缩臂杆、腕部第一关节、腕部第二关节、腕部第三关节及二指型末端作用器,伸缩臂杆设有锁紧机构和导线收放机构。被动式伸缩结构降低结构复杂度和自身质量,约束二指型末端作用器形成运动学闭链,通过关节运动调整臂杆长度实现构型改变,重构过程更容易控制。
Satellite carrying passive telescopic mechanical arm and mechanical arm reconstruction method thereof
一种搭载被动式伸缩机械臂的卫星及其机械臂重构方法
2021-10-22
Patent
Elektronische Ressource
Chinesisch
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