The invention discloses a force sensing self-locking mechanical claw and a space truss assembly robot, and belongs to the field of space assembly. The self-locking mechanical claw achieves driving and self-locking through the double-thread screws with the opposite rotating directions at the left end and the right end, and sensing of the clamping force is achieved through the strain gauges and the sensing structure. The robot adopts an inchworm-imitating motion mode, the two mechanical claws alternately loosen and grasp, and motion of the robot in a three-dimensional space is achieved through deformation of a body. The motion of the robot on trusses with different section structures in a complex space is achieved, through the vibration self-adaptive control method, force coordination of a mechanism and stable position control of an end effector are kept when the trusses vibrate by the robot, and a convenient solution is provided for space truss assembly. The robot is also suitable for climbing of a rod-shaped structure, and tasks such as assembly, detection and maintenance are executed.
本发明公开了力感知自锁机械爪及空间桁架装配机器人,属于空间装配领域。自锁机械爪通过左右两端旋向相反的双头螺杆实现驱动和自锁,并由应变片与感知结构实现夹持力的感知。机器人采用仿尺蠖的运动方式,两个机械爪交替松开和抓紧,通过身体的变形,实现其在三维空间的运动。本发明解决了在复杂空间不同截面结构桁架上机器人的运动,通过振动自适应控制方法,使机器人在桁架振动时保持机构的力协调和末端执行器的位置稳定控制,为空间桁架装配提供便捷的解决方案。本发明也适用于杆状结构的攀爬,执行装配、检测、维修等任务。
Force-sensing self-locking mechanical claw and space truss assembly robot
力感知自锁机械爪及空间桁架装配机器人
2024-05-03
Patent
Electronic Resource
Chinese
Truss Assembly Using Autonomous Space Robot Simulator
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AIAA | 2015
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