A rigid double-finger capturing manipulator based on an improved Waterbomb crease belongs to the technical field of aerospace space capturing, and is characterized by comprising a driving assembly and a finger section assembly, the driving assembly is an improved Waterbomb crease driving assembly; the finger section assembly comprises two finger section units; the two finger section units are symmetrically arranged on the two sides of the driving assembly correspondingly. By means of the improved Waterbomb creases, the good folding and unfolding performance of theoretical paper folding is obtained, the foldable contraction mode of the capturing mechanical arm is achieved, bending capturing of the finger sections is achieved in the folding process, the folding size of the capturing mechanism is remarkably reduced, and the rocket launching cost is remarkably reduced; and meanwhile, the synchronous characteristic is achieved, all truss units in the finger section assembly can move only by driving the driving assembly, the movement condition is the same as that of the truss units of the driving assembly, the driving assembly can complete driving only through four push rods, and by means of the structure, the total mass of the mechanism is reduced, and the mechanism can work easily and reliably.

    一种基于改进Waterbomb折痕的刚性双指抓捕机械手,属于宇航空间抓捕技术领域,其特征在于:包括驱动组件和指段组件;驱动组件为改进的Waterbomb折痕驱动组件;指段组件包括两个指段单元;两个指段单元分别对称设置于驱动组件的两侧。利用改进的Waterbomb折痕,获取理论折纸的良好折展性,实现抓捕机械手的可折叠的收缩方式,且在折叠过程中实现指段的弯曲抓捕,显著减小了抓捕机构的收拢体积,显著降低了火箭发射成本;同时具有同步特性,仅驱动驱动组件就可以使指段组件中的每个桁架单元运动,且运动情况与驱动组件的桁架单元相同,而驱动组件仅需四个推杆便可以完成驱动,这种结构既减轻了机构的总质量,又能使机构工作简单可靠。


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    Title :

    Rigid double-finger capturing manipulator based on improved waterbomb crease


    Additional title:

    一种基于改进waterbomb折痕的刚性双指抓捕机械手


    Contributors:
    LI CHUANYANG (author) / ZHU CHUANLU (author) / YANG HUI (author) / WANG YAN (author) / HU CHANGHUA (author)

    Publication date :

    2024-12-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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