A space cross-size target automatic capture control method for a self-growing flexible variable-stiffness mechanical arm comprises a teleoperation mode and an automatic capture mode, and the teleoperation mode is that the length of each section of mechanical arm body and the bending angle of each joint are preset, and real-time adjustment is conducted according to the position of a target object; the tail end of the mechanical arm reaches the position of the target object; the automatic capturing mode comprises the steps that firstly, a grabbing strategy or a winding strategy is determined to be used according to the size of a target object, the grabbing strategy is adopted when the size of the target object is within the grabbing range of a gripper at the tail end of the mechanical arm, and otherwise, the winding strategy is adopted; and the length distribution of the mechanical arm in the grabbing or winding strategy adopts the principle that the borne maximum torque is equal. According to the space self-growing flexible variable-stiffness mechanical arm, two strategies of grabbing and winding are provided for target objects of different sizes, additional parts do not need to be additionally disassembled and assembled for conversion between the two strategies, and the space self-growing flexible variable-stiffness mechanical arm has higher flexibility, a larger working range and higher adaptability and meanwhile has the characteristics of being capable of being stored, light in weight, large in action range and the like.

    一种自生长柔性变刚度机械臂空间跨尺寸目标自动捕获控制方法,包括:遥操作模式和自动捕获模式,其中:遥操作模式是指:通过预设的每段机械臂主体的长度和每个关节的弯曲角度,并根据目标物的位置实时调整,以使机械臂的末端达到目标物位置;自动捕获模式是指:首先根据目标物的大小决定使用抓取策略或缠绕策略,当目标物的体积处于机械臂末端抓手的抓取范围内时采用抓取策略,否则采用缠绕策略;抓取或缠绕策略中机械臂长度的分配均采取所受最大力矩相等的原则。本发明针对不同尺寸的目标物体有抓取和缠绕两种策略,且两种策略间的转换不需要额外拆装附加部件,具有更高的灵活性、更大的工作范围和更强的适应性,同时适应空间自生长柔性变刚度机械臂可收纳、重量轻、作用范围大等特点。


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    Title :

    Spatial cross-size target automatic capturing control method for self-growing flexible variable-stiffness mechanical arm


    Additional title:

    自生长柔性变刚度机械臂空间跨尺寸目标自动捕获控制方法


    Contributors:
    FANG FUYI (author) / WANG XUNING (author) / WEI XINGYU (author) / LI WENBAI (author) / YI ZHIRAN (author) / ZHANG WENMING (author)

    Publication date :

    2022-08-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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