The invention discloses an omni-directional controllable wheel type end effector for space debris racemization. The omni-directional controllable wheel type end effector comprises a spherical wheel hand, three driving devices, a universal bearing, a fastening support and a connecting flange. Wherein one end of each driving device is connected with the connecting flange, and the other end of each driving device is in contact with the spherical hand wheel; one end of the fastening support is connected with the connecting flange, and the other end of the fastening support is connected with the spherical wheel hand through the universal bearing. Friction type slow energy exchange between the mechanical arm and fragments is achieved by controlling the end effector, so that the purpose of racemization is achieved, and the operation safety can be effectively improved.

    本发明公开了一种用于空间碎片消旋的全向可控轮式末端执行器,包括:球形轮手、三个驱动装置、万向轴承、紧固支架和连接法兰;其中,每个驱动装置的一端与所述连接法兰相连接,每个驱动装置的另一端与所述球形轮手相接触;所述紧固支架的一端与所述连接法兰相连接,所述紧固支架的另一端通过所述万向轴承与所述球形轮手相连接。本发明通过控制该末端执行器实现机械臂与碎片摩擦式的缓慢能量交换从而达到消旋的目的,可有效提高操作的安全性。


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    Title :

    Omnidirectional controllable wheel type end effector for space debris racemization


    Additional title:

    一种用于空间碎片消旋的全向可控轮式末端执行器


    Contributors:
    DUAN JIAQI (author) / CHEN ZHIHONG (author) / LI KE (author) / LI CHANG (author) / WANG YANBO (author)

    Publication date :

    2022-07-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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