The invention provides a multi-mode rigid-flexible coupling modular space capturing manipulator which is characterized in that a manipulator main body comprises a hexagonal prism base and three flexible actuating modules, namely a first flexible actuating module, a second flexible actuating module and a third flexible actuating module, which are uniformly distributed on the base; the first flexible actuating module, the second flexible actuating module and the third flexible actuating module are all fixed to the base. The flexible actuating module comprises a trunk assembly, a driving assembly and a transmission assembly. A trunk assembly of the flexible actuating module serves as a working part to grasp or envelope a target object. The transmission assembly is distributed on the trunk assembly, the driving assembly provides force in different directions for the trunk assembly through the transmission assembly, universal bending of the flexible actuating module is achieved, the large-scale non-cooperative target capturing and flexible grabbing characteristics are achieved, the expansion is large, the weight is light, meanwhile, rigid-flexible coupling deformation grabbing in the working process of the mechanical arm is achieved, and the mechanical arm is suitable for large-scale non-cooperative target capturing and flexible grabbing. And the stability of the manipulator in the grabbing process is enhanced.

    本发明提供一种多模式刚柔耦合模块化空间捕获机械手,机械手主体包括一个六棱柱基座以及基座上均匀分布三个柔性致动模块,分别为第一柔性致动模块、第二柔性致动模块和第三柔性致动模块,第一柔性致动模块、第二柔性致动模块和第三柔性致动模块均固定在基座上。柔性致动模块包括躯干组件、驱动组件和传动组件。柔性致动模块的躯干组件作为工作部分,对目标物体进行抓握或包络。传动组件分布在躯干组件上,驱动组件通过传动组件对躯干组件提供不同方向的力,实现柔性致动模块的万向弯曲,具有大型非合作目标捕获、柔性抓取的特点,扩展大、质量轻,同时实现了机械手工作过程的刚柔耦合变形抓取,增强了机械手抓取过程中的稳定性。


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    Title :

    Multi-mode rigid-flexible coupling modular space capturing manipulator


    Additional title:

    多模式刚柔耦合模块化空间捕获机械手


    Contributors:
    HAN BO (author) / LIU FENG (author) / JIANG YUAN (author) / ZHANG JIACHUAN (author) / YAO JIANTAO (author) / ZHAO YONGSHENG (author)

    Publication date :

    2023-08-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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