The invention provides a space deployable capture manipulator device which comprises a base and a plurality of mechanical paws. Each mechanical paw comprises a plurality of folding and unfolding unitswhich are connected in sequence. Each folding and unfolding unit comprises two supports, a side-turning shear fork mechanism and a driving mechanism. Each support comprises a base plate and a movableplate, and relative sliding can be generated between the movable plate and the base plate. Each side-turning shear fork mechanism comprises two same shear fork arms, and the two shear fork arms are rotationally connected through a biased hinge point. The end parts, close to the hinge point, of the two shear fork arms are respectively hinged to the base plates of the two supports, and the other end parts, far away from the hinge point, of the two shear fork arms are respectively hinged to the movable plates of the two supports. Each driving mechanism provides a power source for the movable plate in one support, so that the movable plate moves relative to the base plate, and lateral reciprocating turnover is generated in the other support. The space deployable capture manipulator device hasthe advantages of being good in folding and unfolding performance and convenient to fold and is suitable for grabbing large-mass non-cooperative targets in space.

    本发明提供了一种空间可展开抓捕机械手装置,包括基座和多个机械手爪,机械手爪包括多个依次相连的折展单元,折展单元包括个支座、侧翻式剪叉机构与驱动机构,支座包括基板、活动板,活动板与基板之间能够产生相对滑动,侧翻式剪叉机构包括两个相同的剪叉臂,两个剪叉臂之间通过偏置的一铰接点转动连接;两个剪叉臂中靠近铰接点的一端部分别铰接至两个支座中的基板上,两个剪叉臂中远离铰接点的另一端部分别铰接至两个支座中的活动板上;驱动机构为其中一个支座中的活动板提供动力源,使其相对基板产生位移,以使得另一支座中产生侧向往复翻转。本发明具有折展性能好、便于收拢的优点,适合空间大质量非合作目标的抓取。


    Access

    Download


    Export, share and cite



    Title :

    Space deployable capture manipulator device


    Additional title:

    一种空间可展开抓捕机械手装置


    Contributors:
    LI BING (author) / GAO CHANGQING (author) / HUANG HAILIN (author) / YANG XIAOJUN (author) / LI YAO (author)

    Publication date :

    2020-04-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



    Single-degree-of-freedom space deployable grabbing manipulator device and grabbing equipment

    LI BING / ZHANG YANG / XU PENG et al. | European Patent Office | 2022

    Free access


    Deployable Manipulator Technology with Application for UAVs

    Kucinski, Tomasz / Rybus, Tomasz / Seweryn, Karol et al. | TIBKAT | 2015


    Dynamics of a flexible deployable robotic manipulator

    Kirk, C. L. / Romero, I. | British Library Conference Proceedings | 1996


    Hierarchical Control of a Space-Based Deployable Manipulator Using Fuzzy Logic

    J. F. Goulet / C. W. de Silva / V. J. Modi et al. | AIAA | 2001