Design Of A Soiling Fiber Artificial Muscle Driven Catching Mechanism For Space Non-cooperative Targets

Space capture is a robot-related technology that is becoming more and more urgent as space missions become more complex and diversified.Various aerospace powers have launched relevant research.Space capture is a prerequisite for missions such as satellites,space stations,space debris,etc.,for maintenance and recovery of critical components.To develop space capture technology,we must first solve the design of the capture mechanism.The arresting mechanism is the key device for space robots to implement non-cooperative target capture.Driven by the artificial muscle of the wound fiber,the design of the smart catching mechanism has important scientific significance and application prospects.In view of the shape complexity and environmental specificity of non-cooperative targets,and considering the cost of launching,this paper proposes a 15-degree-definition three-finger smart catching mechanism with 15 degrees of freedom driven by wound artificial muscles.The design scheme has the advantages of light weight,low energy consumption,low cost,good shape adaptability and good shock absorption effect,and is referred to as a three-finger catching mechanism.This paper analyzes the kinematics of the three-finger catching mechanism,studies its positive and negative kinematics,and confirms its correctness.It provides a basis for the implementation of the crawling,and the working space,singularity and conditions of the finger.The analysis of several indicators laid the foundation for subsequent dimensional optimization and other work.An attitude parameter optimization scheme for catching is proposed.Firstly,the static analysis of the corresponding grab gesture is performed geometrically,and then the grab gesture is selected according to the mimmum or mimmum variance of the pull force to be provided as the driven artificial muscle.The parameters,through comparative analysis,prove the superiority of the scheme.According to the preparation conditions of the wound artificial muscle,the preparation equipment was determined,and the preparation process of the wound fiber artificial muscle was proposed,and the failure factors of the artificial muscle were analyzed.Through the tensile test,the corresponding relationship model between artificial muscle driving power and shrinkage rate is obtained,and then the closed-loop control method of smart catching mechanism based on end pose measurement is established,which realizes the three-finger catching mechanism of wound fiber artificial muscle driving Closed loop servo control.The feasibility of the three-finger capture mechanism was verified by the model test of the satellite AKE nozzle.