Space Capture Mechanism Based On Tetrahedral Truss Mechanism Design And Experimental Research

With the increasing number of space exploration activities and the increasing number of non-cooperative targets in the air.The arrest,handling and maintenance of current non-cooperative targets can effectively maintain the space environment and effectively extend the service life of aircraft and satellites.In such space maintenance tasks,arrest is an important research content.At present,the space capture devices at home and abroad are mainly divided into large mechanical arms and small dexterous hands,and the catching devices used in conjunction with the two,considering the space for capturing targets.The coordinates,related mechanical indexes,inertia are large,and the characteristics of the state cannot be adjusted autonomously.A catching mechanism based on the tetrahedral truss structure that can realize the space catching requirement is proposed,which can realize the grasping of various shapes and sizes of target objects.catch.The design and basic size of the designed catching device were determined.The kinematics and dynamics analysis and simulation verification were completed.Three arrest strategies were proposed,and the functional prototype was used to capture the strategy and capture device movement.The process was verified.The motion properties and motion characteristics of a single basic unit are analyzed,and the relationship between the length change of the linear push rod and the joint angle is established.The self-locking property of the basic unit is analyzed,and the linearity and motion of the motion are guaranteed within the range of capture motion.The occurrence of the self-locking phenomenon;by establishing the optimization model of the unit,the dimensional structure parameters of the basic unit are obtained.The geometrical parameters of the entire space device are obtained by establishing the geometric relationship between the grab target and the mechanical structure,and the three-dimensional design of the entire device is completed.The kinematics model of the single arm of the space capture device is established,and its position,velocity and acceleration equations are established.By establishing the DH coordinate system,the kinematics equation is established by homogeneous transformation.Finally,the corresponding relationship between the amount of linear push rod change and the position of the device is determined.The structural parameters after the size optimization are brought into the kinematics equation,and the motion trajectory of the reference point and the relationship between the velocity and the angular velocity are obtained.The results were verified.Based on the kinematics,the lagrange equation method is used to establish the dynamic model of the single arm of the space capture device.By analyzing the relationship between the speed,acceleration and torque during the catching process,the relationship between the capture and the capture is analyzed.The relationship between the torque changes.Based on the characteristics of the catching device,three kinds of grasping strategies for different types of grabbing targets are proposed.By simulating the catching process,the corresponding relationship between the amount of linear push rod changes and the position of the robotic arm during the capture process is obtained.Control and experimentation provide theoretical guidance.The prototype of the catching device was developed.Through the capture test of multiple sets of objects of different shapes and sizes,three capture strategies were adopted to capture the target objects of different diameters.The change of the linear putter and the target pose during the recording process were The actual trajectory situation verifies the correctness of the theoretical analysis.The result proves that the prototype can capture the theoretical maximum capture radius object,and based on the three arrest strategies proposed by the device,the capture target can be captured.