The invention discloses a space manipulator with a reconfigurable working space, and belongs to the technical field of space manipulator design. The space manipulator comprises a first end effector, a first joint, a first connecting rod, a second joint, a second connecting rod, a third joint, a first telescopic arm rod, a third connecting rod, a fourth joint, a fourth connecting rod, a second telescopic arm rod, a fifth joint, a fifth connecting rod, a sixth joint, a sixth connecting rod, a seventh joint and a second end effector which are connected in sequence. The first telescopic arm rod and the second telescopic arm rod are both telescopic arm rods, the working space of the mechanical arm and the range of the flexible working space are adjusted by changing the lengths of the two arm rods, reconstruction of the working space and the flexible working space is achieved, and the problem that the working capacity is limited in the limited installation space is effectively solved.
本发明公开了一种工作空间可重构的空间机械臂,属于空间机械臂设计技术领域。该空间机械臂包括顺序连接的第一末端执行器、第一关节、第一连杆、第二关节、第二连杆、第三关节、第一伸缩臂杆、第三连杆、第四关节、第四连杆、第二伸缩臂杆、第五关节、第五连杆、第六关节、第六连杆、第七关节及第二末端执行器。其中,第一伸缩臂杆及第二伸缩臂杆均为可伸缩臂杆,通过改变上述两个臂杆长度,调整机械臂的工作空间以及灵活工作空间的范围,实现工作空间及灵活工作空间的重构,有效解决了有限安装空间下工作能力受限的问题。
Space manipulator with reconfigurable working space
一种工作空间可重构的空间机械臂
2025-02-18
Patent
Electronic Resource
Chinese