CN108638110B - Rigid foldable metamorphic catching mechanism - Google Patents
Rigid foldable metamorphic catching mechanism Download PDFInfo
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- CN108638110B CN108638110B CN201810366075.XA CN201810366075A CN108638110B CN 108638110 B CN108638110 B CN 108638110B CN 201810366075 A CN201810366075 A CN 201810366075A CN 108638110 B CN108638110 B CN 108638110B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Abstract
The invention provides a rigid foldable metamorphic catching mechanism, which comprises a plurality of metamorphic units, wherein each metamorphic unit comprises: the catching mechanism comprises two scissor rods and two connecting rods, and the two scissor rods are mutually connected through a revolute pair R1 to form a scissor mechanism; the bottom ends of the two connecting rods are respectively connected to the top ends of the two scissor rods through a revolute pair R2 and a revolute pair R3; the sliding branch comprises a first sliding rod, a second sliding rod and a third sliding rod which are connected in a sliding manner, and the first sliding rod is connected with the top end of the connecting rod through a revolute pair R4; the rotating branch comprises a first rotating rod, a second rotating rod and a third rotating rod which are rotatably connected; the first rotating rod is connected to the bottom end of the scissor rod through a revolute pair R5; the third rotating rod and the third sliding rod are connected through a revolute pair Ra 3; the two follow-up branches are connected with each other through a hinge mechanism. The invention has better developability, stronger rigidity, higher error inclusion and lower processing and manufacturing requirements so as to better adapt to the space environment.
Description
Technical Field
The invention relates to a rigid foldable metamorphic catching mechanism.
Background
The space manipulator has integrated space sensing, maneuvering and operating capabilities, completes the work of on-orbit assembly, pollution cleaning, observation and inspection, fault module replacement, on-orbit filling, consumed load replacement and supplement, orbit cleaning, orbit transfer and the like of the spacecraft in an on-orbit operation mode, ground teleoperation mode or autonomous operation mode, and is core equipment for on-orbit assembly and maintenance of the spacecraft.
Chinese patent document CN 107685881 a discloses a space flexible capturing device and a capturing method thereof, the capturing device is composed of a tether for recovery, a throwing rope for winding a target object, two throwing rods and a frame. The target can be captured by only adopting two throwing ropes with adhesive parts. The device has the advantages of long operation distance, wide applicable objects and low requirement on a control system in the capturing process.
Chinese patent document CN 106584507 a discloses a fully flexible pneumatic mechanical arm structure, which is in a vertically long conical shape. The mechanical arm mainly comprises a fully flexible mechanical arm main body, a mechanical arm central body and air passages which are uniformly distributed around the axis of the mechanical arm central body in a symmetrical mode. The air channel extends from one end with a large diameter to one end with a small diameter and is a certain distance away from the end face so as to keep the air in the air channel, and a layer of fiber reinforced composite material is arranged on the outer surface of the mechanical arm. The flexible mechanical arm main body is made of super-elastic materials and has strong deformation capacity. The device is suitable for capturing objects with complex shapes.
Chinese patent document CN 106584507 a discloses a grip type inflatable grasper having two symmetrical mechanical arms. The mechanical arm can complete inward clamping action and outward opening action. In order to complete the two movements, an arc-shaped inflatable stretching arm is arranged at the front end of the mechanical arm, a longitudinal coil spring is arranged on the outer side of the stretching arm, and the outer side surface of the longitudinal coil spring is bonded with the corresponding stretching arm. The capturing hand can capture large-size non-cooperative targets in space.
The prior art adopts the flexible part as the mechanism main body, so the whole rigidity of the mechanism is poor, and the mechanism is not suitable for capturing objects in motion in space. Furthermore, the use of flexible members limits the size of the capturing mechanism, thereby limiting the range of objects captured.
Therefore, a rigid foldable metamorphic catching mechanism is needed to be provided, so that the overall rigidity of the catching mechanism is improved, the size of the catching mechanism can be changed by combining the metamorphic principle, and the range of catching targets is expanded.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a rigid foldable metamorphic catching mechanism which has better developability, stronger rigidity, higher error containment and lower processing and manufacturing requirements so as to better adapt to the space environment.
In order to achieve the above object, the present invention provides a rigid foldable metamorphic catching mechanism, comprising a plurality of identical metamorphic units, wherein the metamorphic units comprise:
the catching mechanism comprises two identical scissor rods and two identical connecting rods, and the two scissor rods are mutually connected through a revolute pair R1 to form a scissor mechanism; the bottom ends of the two connecting rods are respectively connected to the top ends of the two scissor rods through a revolute pair R2 and a revolute pair R3;
the follow-up branch mechanisms comprise a sliding branch and a rotating branch;
the sliding branch comprises a first sliding rod, a second sliding rod and a third sliding rod, and the first sliding rod and the second sliding rod are connected through a sliding pair Pa 1; the second sliding rod and the third sliding rod are connected through a sliding pair Pa 2; the first sliding rod is connected with the top end of the connecting rod through a revolute pair R4;
the rotating branch comprises a first rotating rod, a second rotating rod and a third rotating rod; the first rotating rod and the second rotating rod are connected through a revolute pair Ra 1; the second rotating rod and the third rotating rod are connected through a revolute pair Ra 2; the first rotating rod is connected to the bottom end of the scissor rod through a revolute pair R5; the third rotating rod and the third sliding rod are connected through a revolute pair Ra 3;
the two follow-up branch mechanisms are connected with each other through a hinge mechanism, the hinge mechanism comprises two same blades, and the two blades are connected with each other through a revolute pair RL1 connected and the blades pass through a revolute pair RL2 are connected to a third swivelling lever.
According to the invention, the catching surface formed by two scissor rods and two connecting rods in the catching mechanism is provided with three revolute pairs with special geometric positions, the revolute pair R1 with the axis vertical to the surface of the catching surface is used for providing folding and unfolding freedom to complete folding and unfolding movement, and in the process, the axes of the other two revolute pairs R2 and the revolute pair R3 are not collinear, so that the catching movement cannot be carried out. When the axes of the two revolute pairs R2 and R3 are collinear, the catching surface can start catching movement.
In the invention, the two follow-up branch mechanisms do not generate extra freedom degrees on the capture surface in the folding, unfolding and capturing processes of the metamorphic units, so that the capture surface always has only one freedom degree, namely, only the folding and unfolding freedom degrees are generated in the folding and unfolding state; in the catching state, only the catching freedom degree exists.
In the invention, the revolute pair R1 is arranged at the position of the two scissor rods close to the middle, and in the folding and unfolding process, the scissor rods and the connecting rod form a standard scissor mechanism, namely the revolute pair is arranged at the middle part of a new scissor rod formed by the connecting rod and the scissor rods.
According to another embodiment of the invention, the revolute pair RL2 and a revolute pair Ra3 form a composite hinge mechanism to realize the movable connection among the sliding branch, the rotary branch and the hinge mechanism.
According to another embodiment of the present invention, the metamorphic unit further comprises a telescopic branch mechanism, the telescopic branch mechanism comprising:
the starting ends of the two supporting rods are connected with each other through a sliding pair P1, and the tail ends of the two supporting rods are respectively connected with the bottom ends of the two scissor rods through a revolute pair R5. In the telescopic branch mechanism of the scheme, two revolute pairs R5 and one sliding pair P1 form a planar kinematic pair, and according to the property of the planar kinematic pair, when the axes of the revolute pair R2 and the revolute pair R3 are collinear, the capture mechanism has the freedom of rotation around the axis of the revolute pair R2, namely the capture freedom, and due to the constraint influence of the planar motion formed by the two revolute pairs R5 and the sliding pair P1, the revolute pair R1 is disabled, namely the capture mechanism has only one degree of freedom, namely the capture freedom provided by the revolute pair R2 and the revolute pair R3.
According to another embodiment of the invention, adjacent metamorphic units share a telescopic branch mechanism, for example, the bottom ends of the scissor rods in one metamorphic unit are connected with the tail ends of the two supporting rods through a revolute pair R5, and the top ends of the supporting rods in the other metamorphic unit are connected with the tail ends of the two supporting rods through a revolute pair R4, so that the connection between the adjacent metamorphic units is realized. Correspondingly, the structure of the support rod can be adjusted adaptively, for example, a connecting rod with an I-shaped section is adopted, so that the adjacent metamorphic units can be connected conveniently.
According to another embodiment of the present invention, in the rotating branch, the movement spirals of the revolute pair Ra1, the revolute pair Ra2 and the revolute pair Ra3 are:
wherein li、mi、ni、ai、bi(i ═ 1,2,3) is an arbitrary constant;
the axes of the three revolute pairs Ra1, Ra2 and Ra3 are not collinear and are oblique to a plane. For example, the plane is the XOZ plane.
According to another embodiment of the invention, in the sliding branch, the motion spirals of the sliding pair Pa1 and the sliding pair Pa2 are:
wherein li，ni(i ═ 4,5) is an arbitrary constant;
the axes of the two sliding pairs Pa1 and Pa2 are always parallel to the plane which is intersected by the axes of the three revolute pairs Ra1, Ra2 and Ra 3.
According to another embodiment of the present invention, the third sliding bar is a bent bar; the first rotating rod and the third rotating rod are bending rods. Because the follow-up branch mechanism is of a three-dimensional space structure, positions of all parts are changed in the folding, unfolding and capturing processes, and on the premise that the relation among all kinematic pairs of the follow-up branch mechanism is not changed, partial parts are bent in a rod bending mode, so that interference among all parts can be avoided, and the influence of collision on the whole mechanism is prevented. Correspondingly, on the premise of ensuring that no interference is generated, the structure of other rod pieces in the follow-up branch mechanism can be changed.
According to another embodiment of the invention, the metamorphic units are expanded along the folding and unfolding direction of the scissor rod to form the foldable catching mechanical arm. For example, four metamorphic units are adopted, adjacent metamorphic units are connected in series, and after the folding and unfolding movement of each metamorphic unit, the mechanical arm is completely unfolded to a proper length to prepare for the capturing process.
According to another embodiment of the invention, the rigid foldable catching metamorphic mechanism further comprises a chassis, and the plurality of foldable catching mechanical arms are arranged on the chassis in a circumferential array. For example, four foldable catching mechanical arms are adopted, and in a folded state, the mechanical arms occupy small space, can be placed on a carrier rocket with small space, and after being completely unfolded, have a large overall structure and can adapt to catching of large target size.
According to another embodiment of the invention, when the axes of the revolute pair R2 and the revolute pair R3 are not collinear, the scissor rod and the connecting rod jointly perform the folding and unfolding process. At this time, the capture mechanism has one and only one folding and unfolding degree of freedom. In the folding and extending processes of the scissor rod, the rotation pair R2 and the rotation pair R3 have the condition that the axes are collinear at only one position.
According to another embodiment of the invention, when the axes of the revolute pair R2 and the revolute pair R3 are collinear, the link rod is turned relative to the plane of the scissor lever. At this time, the capturing mechanism has one and only one capturing degree of freedom. When the axes of the revolute pair R2 and the revolute pair R3 are collinear, the original folding and unfolding process is stopped by combining the matching of the follow-up branch mechanism, and the overturning process and the capturing process are started.
In the invention, the constraint spiral of the follow-up branch mechanism can be obtained by the motion spirals of the three revolute pairs Ra1, Ra2 and Ra3 and the motion spirals of the sliding pair Pa1 and the sliding pair Pa 2:
that is, the following branch mechanism will restrict the degree of freedom of movement in a certain axial direction (Y axis), and only generate a line vector of the restricting force along the axis (Y axis), so as to ensure that the following branch mechanism does not generate additional restriction on the catching surface, i.e. does not affect the degree of freedom of the whole structure.
The hinge mechanism in the present invention is a hinge-like connection, and it should be noted that the blade herein can adopt various forms of structures, such as an L-shaped rod, a V-shaped rod, etc.
The invention has the advantages that:
1. the rods adopted in the invention are all rigid rods, so that the integral rigidity of the mechanism is greatly improved compared with the flexible rods, and a rigidity foundation is laid for catching space objects;
2. by applying the principle of the metamorphic mechanism, the mechanism can complete the task of capturing objects through capturing movement and can also generate size change through folding and unfolding movement;
3. the integral mechanism is small in size in a folded state and can be placed on a carrier rocket with small space for use; in the unfolded state, a larger capturing mechanical arm is formed, and a capturing task of a larger-size target can be completed.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of the overall structure of a metamorphic unit according to example 1;
FIG. 2 is a schematic view of the catch mechanism of FIG. 1;
FIG. 3 is a schematic diagram of the structure of a single follower branch of FIG. 1;
FIG. 4 is a schematic view of the hinge mechanism of FIG. 1;
FIG. 5 is a schematic structural view of a single collapsible capture robot of embodiment 2;
FIG. 6 is a schematic view of the expanded state of FIG. 5;
fig. 7 is a schematic view of the capture state of fig. 6;
FIG. 8 is a schematic view of the overall structure of a plurality of foldable capture robots of embodiment 3;
FIG. 9 is a schematic illustration of a plurality of the collapsible capture arms of FIG. 8 in an expanded state;
FIG. 10 is a schematic view of the capture state of the plurality of collapsible capture robotic arms of FIG. 9.
Detailed Description
Example 1
The present embodiment provides a metamorphic unit, as shown in fig. 1-4, comprising: catching mechanism 11, sliding branch 12, rotating branch 13, telescopic branch 14 and hinge mechanism 16.
The catching mechanism 11 comprises two identical scissor rods 101 and two identical connecting rods 102, and the two scissor rods 101 are connected with each other through a revolute pair R1 to form a scissor mechanism; the bottom ends of the two connecting rods 102 are respectively connected to the top ends of the two scissor rods 101 through a revolute pair R2 and a revolute pair R3; the catching mechanism forms a catching surface for catching. The revolute pair R2 and the revolute pair R3 provide the freedom of the catching surface to perform catching movement.
Two identical follow-up branch mechanisms 15, wherein each follow-up branch mechanism 15 comprises a sliding branch 12 and a rotating branch 13; the sliding branch 12 comprises a first sliding rod 103, a second sliding rod 104 and a third sliding rod 105, wherein the first sliding rod 103 and the second sliding rod 104 are connected through a sliding pair Pa 1; the second slide bar 104 and the third slide bar 105 are connected by a slide pair Pa 2; the first slide lever 103 is connected to the top end of the link 102 via a revolute pair R4.
The rotating branch 13 comprises a first rotating rod 106, a second rotating rod 107 and a third rotating rod 108; the first rotating lever 106 and the second rotating lever 107 are connected by a revolute pair Ra 1; the second rotating lever 107 and the third rotating lever 108 are connected by a revolute pair Ra 2; the first rotating rod 106 is connected to the bottom end of the scissor rod 101 through a revolute pair R5; the third rotating lever 108 and the third slide lever 105 are connected by a revolute pair Ra 3.
The hinge mechanism 16 connects the two follow-up branch mechanisms 15, the hinge mechanism 16 comprises two identical blades 109, and the two blades 109 are connected through a revolute pair RL1 connected, two blades 109 passing through revolute pair RL2 are connected to the third rotating shaft 108 of the two rotating branches, respectively.
The two ends of the catching mechanism 11 are provided with telescopic branch mechanisms 14 for connecting adjacent metamorphic units, each telescopic branch mechanism 14 comprises two support rods 110, the starting ends of the two support rods 110 are connected with each other through a sliding pair P1, the bottom end of the shearing fork rod 101 of one metamorphic unit is connected with the two support rods 110 through a revolute pair R5, and the top end of the connecting rod 102 of the other adjacent metamorphic unit is connected with the two support rods 110 through a revolute pair R4.
As can be seen from the geometrical position relationship between the revolute pair R2 and the revolute pair R3, when the axes of the revolute pair R2 and the revolute pair R3 are not collinear, the catching mechanism has one and only one degree of freedom, namely, the folding and unfolding degree of freedom provided by the revolute pair R1; when the axes of the revolute pair R2 and the revolute pair R3 are collinear, the capture mechanism will have the freedom to rotate about the revolute pair R2 (i.e., revolute pair R3) axis, i.e., the capture freedom. The R1 revolute pair will then fail, subject to the constraint of planar motion made up by revolute pair R4, revolute pair R5 and P1, i.e. the mechanism has and only has one degree of freedom, i.e. the capturing freedom provided by R2 and R3.
The single follow-up branch mechanism of the embodiment has three revolute pairs (Ra1, Ra2 and Ra3) and two revolute pairs (Pa1 and Pa2), and the coordinate system is shown in fig. 3, wherein the kinematic spirals of the revolute pairs Ra1, Ra2 and Ra3 are:
wherein li、mi、ni、ai、bi(i ═ 1,2,3) is an arbitrary constant;
the axes of the three revolute pairs Ra1, Ra2 and Ra3 are not collinear and are oblique to the XOZ plane.
The motion screw of the sliding pair Pa1 and the sliding pair Pa2 is as follows:
wherein li,，ni(i ═ 4,5) is an arbitrary constant;
the axes of the two sliding pairs Pa1 and Pa2 are always parallel to the XOZ plane.
Combining the motion spirals of the three revolute pairs (Ra1, Ra2 and Ra3) and the two prismatic pairs (Pa1 and Pa2), it can be obtained that the constraint spiral of the follower branch unit is:
namely, the constraint screw can constrain the freedom degree of movement along the Y axis and only generate a constraint force line vector along the Y axis, so that the follow-up branch mechanism is ensured not to generate additional constraint on the capture mechanism, and the freedom degree of the whole mechanism is not influenced.
As shown in fig. 3, in order to avoid interference and the like during rotation of the follower branch mechanism, a bending rod is used as the third sliding rod 105, and a bending rod is used as the first rotating rod 106 and the third rotating rod 108 to prevent collision during operation.
Example 2
The embodiment provides a rigid foldable catching mechanical arm, as shown in fig. 5 to 7, which includes four identical metamorphic units 201 (the metamorphic units 201 in this embodiment have the same structure as that in embodiment 1, and are not described here again), and adjacent metamorphic units 201 are connected by a telescopic branch mechanism 202; the telescopic branch 202 is a hybrid mechanism composed of four revolute pairs and two sliding pairs, and is connected in series. After the two scissors 203 of each metamorphic unit 201 are folded and unfolded, the mechanical arm is completely unfolded, and at the moment, the scissors 203 and the connecting rod 204 in the metamorphic unit 201 perform overturning motion, that is, the whole mechanical arm performs capturing motion.
Example 3
The embodiment provides a rigid foldable capture mechanism, as shown in fig. 8-10, which includes a chassis 301, and four foldable capture mechanical arms 303 formed by using metamorphic units 302 (the metamorphic units 302 herein are the same as the metamorphic units in embodiment 1, and are not described here again), where the four mechanical arms 303 are arranged on the chassis 301 in a circumferential array.
The rigid foldable catching mechanism has three states of folding, extending and catching, and different states are used under different conditions to complete the catching task in space. The rigid foldable catching mechanism is put into a carrier rocket in a folded state, and then is unfolded in space, so that a catching task of a specified target object can be performed.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.
Claims (10)
1. A rigid foldable metamorphic catching mechanism is characterized by comprising a plurality of identical metamorphic units, wherein each metamorphic unit comprises:
the catching mechanism comprises two identical scissor rods and two identical connecting rods, and the two scissor rods are mutually connected through a revolute pair R1 to form a scissor mechanism; the bottom ends of the two connecting rods are respectively connected to the top ends of the two scissor rods through a revolute pair R2 and a revolute pair R3;
the follow-up branch mechanisms comprise a sliding branch and a rotating branch;
the sliding branch comprises a first sliding rod, a second sliding rod and a third sliding rod, and the first sliding rod and the second sliding rod are connected through a sliding pair Pa 1; the second sliding rod and the third sliding rod are connected through a sliding pair Pa 2; the first sliding rod is connected with the top end of the connecting rod through a revolute pair R4;
the rotating branch comprises a first rotating rod, a second rotating rod and a third rotating rod; the first rotating rod and the second rotating rod are connected through a revolute pair Ra 1; the second rotating rod and the third rotating rod are connected through a revolute pair Ra 2; the first rotating rod is connected to the bottom end of the scissor rod through a revolute pair R5; the third rotating rod and the third sliding rod are connected through a revolute pair Ra 3;
the two follow-up branch mechanisms are connected with each other through a hinge mechanism, the hinge mechanism comprises two same blades, and the two blades are connected with each other through a revolute pair RL1 connection, the blades pass through a revolute pair RL2 are connected to the third swivelling levers.
2. The rigid deployable cellular arrest mechanism of claim 1, wherein the metamorphic unit further comprises a telescoping branch comprising:
the starting ends of the two supporting rods are connected with each other through a sliding pair P1, and the tail ends of the two supporting rods are connected to the bottom ends of the two scissor rods through a revolute pair R5.
3. A rigid deployable cellular arrest mechanism according to claim 2, wherein adjacent cells share a common said telescopic limb.
4. The rigid foldable metamorphic catching mechanism as claimed in claim 1, wherein in said rotating branch, the motion spirals of the revolute pair Ra1, the revolute pair Ra2 and the revolute pair Ra3 are:
wherein li、mi、ni、ai、bi(i ═ 1,2,3) is an arbitrary constant;
the axes of the three revolute pairs Ra1, Ra2 and Ra3 are not collinear and are oblique to a plane.
5. The rigid foldable metamorphic catching mechanism as claimed in claim 4, wherein in said sliding branch, the motion spiral of sliding pair Pa1 and sliding pair Pa2 is:
wherein li，ni(i ═ 4,5) is an arbitrary constant;
the axes of the two sliding pairs Pa1 and Pa2 are always parallel to the plane which is intersected by the axes of the three revolute pairs Ra1, Ra2 and Ra 3.
6. The rigid deployable cellular arrest mechanism of claim 1, wherein the third slide bar is a bent bar; the first rotating rod and the third rotating rod are bending rods.
7. The rigid foldable catching metamorphic mechanism as claimed in claim 1, wherein a plurality of metamorphic units expand along the folding direction of the scissor rod to form a foldable catching mechanical arm.
8. The rigid deployable cell-catching mechanism of claim 7, further comprising a chassis onto which the plurality of deployable cell-catching robotic arms are arranged in a circumferential array.
9. The rigid foldable metamorphic catching mechanism as claimed in claim 1, wherein when the axes of the revolute pair R2 and the revolute pair R3 are not collinear, the scissor rod and the connecting rod jointly perform the folding and unfolding process.
10. The rigid foldable metamorphic capturing mechanism as claimed in claim 9, wherein when the axes of the revolute pair R2 and the revolute pair R3 are collinear, the link is turned relative to the plane of the scissor lever.
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| CN109533402B (en) * | 2018-11-06 | 2020-10-27 | 哈尔滨工业大学（深圳） | Lightweight foldable space truss type capturing manipulator |
| CN112937929B (en) * | 2021-02-08 | 2022-10-11 | 北京交通大学 | Multi-connecting-rod encircling type space capturing mechanism |
| CN113002805B (en) * | 2021-02-08 | 2022-09-27 | 北京交通大学 | Multi-mode space capturing mechanism |
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| CN205854540U (en) * | 2016-07-04 | 2017-01-04 | 西北工业大学 | A kind of encircle the device arresting space junk |
| CN107134655A (en) * | 2017-04-20 | 2017-09-05 | 哈尔滨工业大学深圳研究生院 | A kind of space expandable curved face truss mechanism based on scissors mechanism |
| CN107933959A (en) * | 2017-10-13 | 2018-04-20 | 中国科学院深圳先进技术研究院 | Six-bar mechanism and what is be made from it open up module, extending arm, planar development truss |
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| US10618679B2 (en) * | 2016-08-08 | 2020-04-14 | Andrew E Kalman | Solar panel hinge release mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205854540U (en) * | 2016-07-04 | 2017-01-04 | 西北工业大学 | A kind of encircle the device arresting space junk |
| CN107134655A (en) * | 2017-04-20 | 2017-09-05 | 哈尔滨工业大学深圳研究生院 | A kind of space expandable curved face truss mechanism based on scissors mechanism |
| CN107933959A (en) * | 2017-10-13 | 2018-04-20 | 中国科学院深圳先进技术研究院 | Six-bar mechanism and what is be made from it open up module, extending arm, planar development truss |
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