The invention discloses a small celestial body star catalogue terrain passive self-adaptive mechanism which comprises a clamping device, a fixed platform, a movable platform and three motion branch chains which are located between the movable platform and the fixed platform and are the same in structure. The moving branch chains are installed on a bottom plate of the moving platform in the mode that the circumference of each moving branch chain is 120 degrees, the clamping devices are also installed on a bottom plate of the moving platform in the mode that the circumference of each moving branch chain is 120 degrees, and the clamping devices are also 120 degrees so as to clamp and fix the attachment mechanism. When the attachment mechanism makes contact with the terrain complex and an attachment fitting spherical surface does not reach the center, the position and posture of the attachment mechanism deviate in the attachment process, and at the moment, the mechanical arm is kept fixed; and correction of the tail end posture and position of the mechanical arm is completed through the parallel passive self-adaptive mechanism. The device is a completely passive mechanism, and does not need to use a control system, a measuring system and other matched devices. And the equipment is relatively simple in structure, high in reliability and relatively convenient to maintain.

    本发明公开了一种小天体星表地形被动自适应机构,包括夹紧装置、固定平台、移动平台和位于移动平台和固定平台之间的三条结构组成相同的运动支链。每条运动支链以圆周互成120°,夹紧装置同样互成120°安装在移动平台底板,以此用来夹紧固定附着机构,当附着机构接触地形较为复杂且附着拟合球面未剧中时,附着过程中附着机构自身位置和姿态产生偏移,此时机械臂保持固定,通过并联式被动自适应机构完成机械臂的末端姿态和位置的矫正。本发明是完全被动机构,不需要使用控制系统以及测量系统等配套装置。设备结构相对简单,可靠性高,维修较为方便。


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    Titel :

    Small celestial body star catalogue terrain passive self-adaptive mechanism


    Weitere Titelangaben:

    小天体星表地形被动自适应机构


    Beteiligte:
    JIA SHAN (Autor:in) / LI ZEHONG (Autor:in) / WU MINGYANG (Autor:in) / ZHANG QINGSONG (Autor:in) / CHEN JINBAO (Autor:in) / ZHAN DIXI (Autor:in) / WANG JIAN (Autor:in)

    Erscheinungsdatum :

    2023-08-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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