The invention discloses a space flexible capture system ground physical verification device and method, and relates to the field of space robot ground test verification. The target driving mechanism comprises a rotary driving device for driving the target to rotate with the direction perpendicular to the ground as the axis and a vertical driving device for driving the target and the rotary driving device to move together in the direction perpendicular to the ground, and the target is connected to the rotary driving device through a first stay wire; the flexible capturing system comprises a soft arm, a mounting plate and a soft arm driving mechanism, the mounting plate is connected to the outer frame, one end of the soft arm is fixedly connected to the mounting plate, and the other end of the soft arm is connected with the flexible arm driving system through a second pull wire; and the soft arm driving mechanism is used for controlling the position and angle of the soft arm pulled by the second pull wire, so that the soft arm captures a target. And a space microgravity environment can be simulated in a ground environment for test verification.

    本申请公开了一种空间柔性抓捕系统地面物理验证装置及方法,涉及空间机器人地面试验验证领域,包括外框架;目标驱动机构,包括驱动目标以垂直于地面方向为轴线进行转动的旋转驱动装置、驱动目标和旋转驱动装置一同沿着垂直于地面方向移动的竖直驱动装置,目标通过第一拉线连接于旋转驱动装置;柔性抓捕系统,包括软体臂、安装板、软体臂驱动机构,安装板连接于外框架,软体臂一端固定连接于安装板上,软体臂另一端通过第二拉线与柔性臂驱动系统连接;软体臂驱动机构用于控制第二拉线拉动软体臂的位置和角度、以使软体臂捕获目标。能够在地面环境中实现模拟空间微重力环境进行试验验证。


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    Title :

    Ground physical verification device and method for space flexible capture system


    Additional title:

    一种空间柔性抓捕系统地面物理验证装置及方法


    Contributors:
    LI XIAOQI (author) / CHEN ZHIHONG (author) / DUAN JIAQI (author) / DU BAOSEN (author) / LI TONGTONG (author)

    Publication date :

    2023-04-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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