The invention relates to the technical field of space robots, in particular to a three-degree-of-freedom soft butt joint which comprises a transmission mechanism, a damping buffering assembly and a sensing assembly. The transmission mechanism comprises a clutch, a cross shaft structure, a Z-axis rotating shell, a Y-axis rotating shell and the like; the damping buffer assembly comprises a rotary magnetorheological damper, a torsion spring mechanism and the like; the sensing assembly comprises an encoder and the like. According to the soft butt joint, the flexibility of a butt joint mechanism is controlled mainly through a damping buffering assembly, space six-dimensional momentum unloading is achieved according to an operation task, and therefore soft butt joint of space operation is achieved.
本发明涉及空间机器人技术领域,具体是一种三自由度软对接关节,包括传动机构、阻尼缓冲组件和传感组件。所述的传动机构包括离合器、十字轴结构、Z轴旋转外壳、Y轴旋转外壳等;阻尼缓冲组件包括旋转式磁流变阻尼器和扭转弹簧机构等;传感组件包括编码器等。所述的软对接关节主要利用阻尼缓冲组件控制对接机构的柔性,根据操作任务实现空间六维动量卸载,从而实现空间操作的软对接。
Three-degree-of-freedom soft butt joint for unloading spatial six-dimensional impulse
一种用于卸载空间六维冲量的三自由度软对接关节
2024-02-09
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS |
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