The invention relates to a unit array integrated type single-degree-of-freedom space capturing hand which comprises an extensible base and a plurality of truss type capturing hands arranged on the extensible base, the extensible base is an annular truss extensible mechanism composed of N sets of shear fork rods, and the truss type capturing hands are arranged at the front end of the extensible base in a surrounding mode. An inner faceplate and an outer faceplate in each truss type capturing hand are connected with a second faceplate in the extensible base through a first coupling branch chain and a second coupling branch chain respectively, a first connecting rod and a fourth connecting rod in the four-connecting-rod mechanism are connected with the inner faceplate and the outer faceplate respectively, and the capturing claws are arranged at the upper ends of the first connecting rods. The extensible base is driven to be unfolded and folded, so that the coupling branch chain moves to drive the four-bar mechanism to move, and grabbing and releasing of the capturing paw are achieved. Modularized connection is adopted, connection expansion can be carried out according to the requirement of a capture task of a capture hand, and the device has the advantages of being simple in structure, easy in engineering manufacturing, high in rigidity, high in stability, large in folding and unfolding rate and the like.
本发明涉及一种单元阵列集成式单自由度空间捕获手,其包括可展基座以及设置于可展基座上的多个桁架式捕获手,可展基座是一个由N组剪叉杆构成的环形桁架可展机构,且多个桁架式捕获手环绕设于可展基座的前端,每个桁架式捕获手中的内花盘和外花盘分别通过第一耦合支链和第二耦合支链与可展基座中的第二花盘连接,四连杆机构中的第一连杆和第四连杆分别与内花盘和外花盘连接,且捕获手爪设于第一连杆的上端,通过驱动可展基座本展开收拢,使得耦合支链运动带动四连杆机构运动,从而实现捕获手爪的抓取和释放。本发明采用模块化连接,可以根据捕获手捕获任务的需求进行连接扩展,具有结构简单、易于工程制造、刚度高、稳定性强、折展率大等优点。
Unit array integrated single-degree-of-freedom space capturing hand
单元阵列集成式单自由度空间捕获手
2023-12-26
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS |
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