The invention belongs to the technical field of manipulators, and provides a self-adaptive bistable space capturing manipulator which comprises a lifting assembly, a plurality of shear fork folding and unfolding mechanisms and a clamping mechanism, and the shear fork folding and unfolding mechanisms are arranged on the peripheral side of the lifting assembly along the circumference; a clamping connecting rod and a linear sliding module of the clamping mechanism are rotationally connected with an upper-layer faceplate of the shear fork folding and unfolding mechanism, and a lifting lead screw in the lifting assembly rotates forwards and backwards to control the distance between the first center faceplate and the second center faceplate, so that the shear fork folding and unfolding mechanism is driven to be folded and unfolded; the flexible part in the clamping mechanism is matched with the linear sliding module, the flexible part enables the capturing clamping jaw to have self-adaptive capacity, and the device has the advantages of being large in capturing range, small in folding size and fast in dynamic response and can adapt to the space environment; and the space capture manipulator is more suitable for coping with a capture task of a non-cooperative target.
本发明属于机械手技术领域,提供一种自适应双稳态空间捕获机械手,其包括升降组件、剪叉折展机构和夹持机构,多个剪叉折展机构沿圆周设置在升降组件的周侧,夹持机构的夹持连杆、直线滑动模组分别与剪叉折展机构的上层花盘转动连接,本发明通过升降组件中的升降丝杆正反转动控制第一中心花盘与第二中心花盘间的距离,驱动剪叉折展机构收拢和展开,进而驱动对称设置的夹持连杆以中心轴为旋转轴,通过夹持机构中柔性件与直线滑动模组配合,柔性件使捕获夹爪具有自适应能力,具有捕获范围大、收拢体积小和动态响应快的优点,能够适应空间环境,使空间捕获机械手更适用于应对非合作目标的捕获任务。
Self-adaptive bistable space capturing manipulator
自适应双稳态空间捕获机械手
2024-12-13
Patent
Electronic Resource
Chinese
Adaptive control of dual-arm space manipulator capturing object
Online Contents | 2013
|Adaptive control of dual-arm space manipulator capturing object
SAGE Publications | 2013
|Unpowered self-adaptive quick linkage type manipulator and unmanned aerial vehicle capturing device
European Patent Office | 2023
|