The invention provides a two-finger rigid capturing manipulator based on web type paper folding. The two-finger rigid capturing manipulator comprises a first supporting assembly, a finger section assembly and a driving assembly. The finger section assembly is arranged below the first supporting assembly, the first supporting assembly and the finger section assembly are symmetrically arranged on the two sides of the driving assembly, the first supporting assembly comprises four V-Miura truss supporting mechanisms, and the finger section assembly comprises twelve Waterbomb truss mechanisms. According to the characteristic that the V-Miura creases can be transversely folded and unfolded, transverse folding and unfolding of the mechanical arm are achieved, the characteristic that the Waterbody creases can be bent for capturing is utilized, the mechanical arm obtains the bending capturing capacity, and the V-Miura truss supporting mechanism is driven to be unfolded so that the Waterbody truss mechanism can be unfolded and conduct enveloping capturing. The mechanical arm occupies a small space when being launched, the requirement for transportation enveloping space is lowered, in-orbit large-diameter capturing in the space can be achieved, and the mechanical arm is used for capturing non-cooperative targets in the space.

    本发明提供一种基于蹼式折纸的两指刚性抓捕机械手,其包括第一支撑组件、指段组件和驱动组件;指段组件设置在第一支撑组件的下方,第一支撑组件和指段组件对称设置在驱动组件的两侧,第一支撑组件包括四个V‑Miura桁架支撑机构,指段组件包括十二个Waterbomb桁架机构,本发明将折纸理论与机构运动副匹配相结合,依据V‑Miura折痕横向可折展的特点,实现该机械手的横向可折展,利用Waterbomb折痕可弯曲抓捕的特点,使机械手获得弯曲抓捕的能力,通过驱动V‑Miura桁架支撑机构展开进而使得Waterbomb桁架机构展开并进行包络抓取。该机械手使其在发射时占据较小的空间,降低了对运输包络空间的需求,还可实现空间在轨大口径抓捕,用于空间非合作目标捕获。


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    Title :

    Two-finger rigid capturing manipulator based on web type paper folding


    Additional title:

    基于蹼式折纸的两指刚性抓捕机械手


    Contributors:
    YANG HUI (author) / HAN YI (author) / YANG YUANFAN (author) / WANG YAN (author)

    Publication date :

    2023-10-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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