CN109649698A - A kind of software arm capturing system and space non-cooperative target racemization method - Google Patents
A kind of software arm capturing system and space non-cooperative target racemization method Download PDFInfo
- Publication number
- CN109649698A CN109649698A CN201811543976.8A CN201811543976A CN109649698A CN 109649698 A CN109649698 A CN 109649698A CN 201811543976 A CN201811543976 A CN 201811543976A CN 109649698 A CN109649698 A CN 109649698A
- Authority
- CN
- China
- Prior art keywords
- fluid
- software
- software arm
- aircraft
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of software arm capturing system, including aircraft platforms (1), several software arms (2), fluid pressure control system, object detecting device, capturing system controller；Several software arms (2) are mounted on aircraft platforms (1), and the inside of each software arm (2) is circumferentially being evenly distributed with several fluid channels, and each fluid channels are axially extending along software arm (2)；Fluid pressure control system control enters the Fluid pressure in fluid channels, realizes that software arm (2) are stretched or are bent to the geometric center direction of aircraft；Object detecting device is mounted on aircraft platforms (1), detects the position of noncooperative target, and the location information that will test is sent to capturing system controller；The fluid that controller control fluid pressure control system inputs different pressures into the fluid channels of software arm (2) is arrested, noncooperative target is arrested in realization.
Description
Technical field
The present invention relates to a kind of space non-cooperative target racemization methods.
Background technique
Remaining final vehicle, inert satellite, spacecraft task discards, spacecraft disintegration and collision derivative in space
Grave danger has been constituted to the development of mankind's aerospace industry etc. a large amount of space junks.The technology that actively removes of space junk is mesh
The hot spot of preceding space industry research.Short distance floating debris arrest be current spatial fragment remove task key technology main points,
Space junk free flight in space of big quality, large scale diameter, with the presence of the spin of most certain speed.Space
The spin of fragment is the difficult point of capture.To rolling noncooperative target Direct Acquisition, there are risk of collision, adopt to reduce risk factor
Cancelling supination to capture again is more appropriate mode.It needs to first pass through certain physical contact before the capturing to disappear to it
Rotation.Existing space junk racemization technology includes using small-sized Rigid Robot Manipulator, flying mesh, flies a variety of in-orbit catching methods such as pawl,
Also have and fragment is promoted using electric power tether, solar sail, resistance enhancement device etc. leave the right or normal track method.Rigid Robot Manipulator is in contact racemization
In the process inevitably generate moment biggish impact force, be easy to cause mechanical arm damage and arresting agency it is out of control；Flying mesh and winged pawl
Racemization method be easy to cause the unordered winding during racemization；The racemization of deceleration brush, mechanical pulsing racemization and Sheng Xi robot disappear
The methods of rotation needs the control method of degree of precision and the mechanical structure of complexity to carry out effective implementation of guarantee plan.
Summary of the invention
The technical problem to be solved by the present invention is overcome the deficiencies in the prior art, the present invention provides a kind of software arms to grab
System and space non-cooperative target racemization method are caught, is arrested for the space junk with fixed angular speed spin in space.It should
Method has the advantages that structure is simple, the accuracy of manufacture requires low and to occupy aircraft load space small.
The technical scheme adopted by the invention is that: a kind of software arm capturing system, including aircraft platforms, several softwares
Arm, fluid pressure control system, object detecting device, capturing system controller；Several software arms are mounted on aircraft platforms,
The inside of each software arm is circumferentially being evenly distributed with several fluid channels, and each fluid channels are axially extending along software arm；Stream
The control of body control pressurer system enters the Fluid pressure in fluid channels, realizes software arm stretching or into the geometry of aircraft
The bending of heart direction；Object detecting device is mounted on aircraft platforms, detects the position of noncooperative target, the position that will test
Information is sent to capturing system controller；It is defeated into the fluid channels of software arm to arrest controller control fluid pressure control system
Enter the fluid of different pressures, noncooperative target is arrested in realization.
Fluid channels inside the software arm have three, and it is first fluid cavity that three fluid channels are numbered respectively, the
Two fluid channels, third fluid channels, in the contact surface of software arm and aircraft platforms, second fluid cavity and third fluid
The line of centres L of cavity2With the center of first fluid cavity and the geometric center line L of aircraft3Vertically, first fluid cavity
Center and the geometric center of aircraft be located at line L2Two sides；
The material of the software arm is compounded rubber.
A method of space non-cooperative target racemization being carried out using software arm capturing system, is comprised the following steps that
Step 1: the noncooperative target around the object detecting device sense aircraft of software arm capturing system, meter are utilized
Calculate Geometric center coordinates (X of the noncooperative target under aircraft coordinate system1,Y1,Z1), control aircraft adjusts posture, so that flying
The line L of the geometric center of the geometric center and noncooperative target of row device1It is vertical with the software arm mounting surface of aircraft platforms；
Step 2: control aircraft is along line L1Direction is close to noncooperative target, as the L of object detecting device feedback1Length
It spends and is less than threshold value a1When, capturing system controller sends the instruction of software arm stretching to fluid pressure control system, by fluid pressure
The fluid cavity fluid pressure that Force control system controls each software arm is consistent, so that each software arm stretching；
Step 3: control aircraft is along L1Direction controls software arm and realizes non-cooperative target further to noncooperative target
Target is arrested.
The software arm capturing system includes aircraft platforms, several software arms, fluid pressure control system, target detection
Device, capturing system controller；Several software arms are mounted on aircraft platforms, and the inside of each software arm is uniformly divided circumferential
Several fluid channels are furnished with, each fluid channels are axially extending along software arm；Fluid pressure control system control enters fluid
Fluid pressure in cavity is realized software arm stretching or is bent to the geometric center direction of aircraft；Object detecting device installation
On aircraft platforms, the position of noncooperative target is detected, the location information that will test is sent to capturing system controller；It grabs
The fluid that controller control fluid pressure control system inputs different pressures into the fluid channels of software arm is caught, is realized to non-conjunction
Make arresting for target.
Fluid channels inside the software arm have three, and it is first fluid cavity that three fluid channels are numbered respectively, the
Two fluid channels, third fluid channels, in the contact surface of software arm and aircraft platforms, second fluid cavity and third fluid
The line of centres L of cavity2With the center of first fluid cavity () and the geometric center line L of aircraft3Vertically, first-class body cavity
The center in road and the geometric center of aircraft are located at line L2Two sides；
The specific method is as follows for the step 3: as the L of object detecting device feedback1Length be less than threshold value a2When, control
It makes the 1st group of software arm to be bent to the geometric center of aircraft platforms, until the surface of software arm contact noncooperative target, make non-
The roll rate of cooperative target reduces；When the roll rate of noncooperative target is reduced to threshold value V1When, control the 2nd group of software arm to
The geometric center of aircraft platforms is bent, and realizes arresting for noncooperative target.
The software arm is circumferentially uniformly distributed a circle along software arm mounting surface, successively to software arm number be 1,2,3 ... 2n,
Wherein number is 1,3,5 ..., and the software arm of 2n-1 is the 1st group, and number 2,4,6 ... 2n is the 2nd group, and n is positive integer.
The single software arm is to the curved control method of aircraft platforms are as follows: fluid pressure control system control is first-class
The Fluid pressure P1 in body cavity road rises, and the Fluid pressure P3 of the Fluid pressure P2 of second fluid cavity and third fluid channels is not
Become, when P1 reaches upper pressure limit value, if software arm does not bend to given extent, controls P2 and P3 decline.
The origin of the aircraft coordinate system is the geometric center of the software arm mounting surface of multiple software arms, and Z-direction is hung down
Directly in software arm mounting surface, X-axis, Y-axis and Z axis relationship meet the right-hand rule.
The advantages of the present invention over the prior art are that:
(1) method of the invention used software arm during racemization is closed non-individual body, good airproof performance and knot
Structure is relatively simple；
(2) it is passed through fluid in the cavity of software arm of the invention, contact of the software arm with noncooperative target during racemization
With certain flexibility, a part of kinetic energy can be converted to the interior energy of fluid in collision process；
(3) present invention in the limited situation of rocket load space, the software arm system can be during rocket launching at
In state of folding, load space resource is effectively saved.
(4) present invention is equipped with multiple software holding claws by arresting on aircraft, is used to using the feature of its big flexibility to mesh
It marks object and carries out envelope capture operation.During arresting aircraft by close-target, software holding claw is using big tolerance envelope
Mode captures the target there may be nutating, using its flexibility, avoids arresting between aircraft and target as far as possible
Relative momentum is to the collision for the impact damage and target for arresting aircraft far from risk.
Detailed description of the invention
Fig. 1 is single software arm basic structure schematic diagram；
Fig. 2 is software arm capturing system.
Specific embodiment
The present invention will be described with reference to the accompanying drawings and examples.
Space software arm capturing system carries 4 software arms 2 by 1 aircraft platforms 1 and constitutes.The base of single software arm 2
As shown in Figure 1, the software arm 2 is made of rubber elastic material, shape is cylinder for this structural representation, and software arm 2 is interior in week
To there are three equally distributed fluid channels, respectively first fluid cavity 21, second fluid cavity 22 and third fluid channels
23.Each fluid channels are axially extending along software arm 2, and cavity is respective autonomous closure, and can be by fluid pressure control system list
Solely adjust cavity fluid pressure value.Aircraft platforms 1 are a cubes, and one of face is square ABCD, the square
Face is the mounting plane of software arm 2, and the back side for aircraft platforms 1 opposite with mounting plane, which is defined as A1B1C1D1。
Software arm 2 is mounted on 4 angles of the facing ABCD of aircraft platforms 1, wherein 2 second fluid cavity of software arm, 22 He
The central point line L of third fluid channels 23 and face ABCD tangent face2With first fluid cavity and face ABCD tangent face
The geometric center line of central point and face ABCD are vertical, the central point and face ABCD of first fluid cavity and face ABCD tangent face
Geometric center be located at L2Two sides.Fluid pressure control system control enters the Fluid pressure in fluid channels, real
Existing software arm 2 is stretched or is bent to the geometric center direction of aircraft.
Object detecting device is mounted on aircraft platforms 1, detects the position of noncooperative target, the position letter that will test
Breath is sent to capturing system controller.It arrests controller and controls fluid pressure control system to the input of the fluid channels of software arm 2
Noncooperative target is arrested in the fluid of different pressures, realization.
A method of space non-cooperative target racemization being carried out using software arm capturing system, is comprised the following steps that
Step 1: the noncooperative target around the object detecting device sense aircraft of software arm capturing system, meter are utilized
Calculate Geometric center coordinates (X of the noncooperative target under aircraft coordinate system1,Y1,Z1), control aircraft adjusts posture, so that flying
The line L of the geometric center of the geometric center and noncooperative target of row device1It is vertical with 2 mounting surface of software arm of aircraft platforms 1；
Step 2: control aircraft is along line L1Direction is close to noncooperative target, as the L of object detecting device feedback1Length
It spends and is less than threshold value a1When, capturing system controller sends software arm 2 to fluid pressure control system and stretches instruction, by fluid pressure
The fluid cavity fluid pressure that Force control system controls each software arm 2 is consistent, so that each software arm 2 stretches；
Step 3: control aircraft is along L1Direction controls software arm and realizes non-cooperative target further to noncooperative target
Target is arrested.
The specific method is as follows for step 3: as the L of object detecting device feedback1Length be less than threshold value a2When, control the
1 group of software arm 2 is bent to the geometric center of aircraft platforms 1, until the surface of the contact noncooperative target of software arm 2, is made non-
The roll rate of cooperative target reduces；When the roll rate of noncooperative target is reduced to threshold value V1When, control the 2nd group of software arm 2
It is bent to the geometric center of aircraft platforms 1, realizes arresting for noncooperative target.
Software arm 2 is circumferentially uniformly distributed a circle along software arm mounting surface, successively to software arm 2 number be 1,2,3 ... 2n,
Middle number is 1,3,5 ..., and the software arm 2 of 2n-1 is the 1st group, and number 2,4,6 ... 2n is the 2nd group, and n is positive integer.
Single software arm 2 is to the curved control method of aircraft platforms 1 are as follows: fluid pressure control system controls first fluid
The Fluid pressure P1 of cavity 21 rises, the Fluid pressure P2 of second fluid cavity 22 and the Fluid pressure P3 of third fluid channels 23
It is constant, when P1 reaches upper pressure limit value, if software arm 2 does not bend to given extent, control P2 and P3 decline.
Embodiment:
Based on the space non-cooperative target racemization method of more 2 systematic collaborations of software arm, include the following steps:
Step 1: using the noncooperative target around object detecting device sense aircraft, in the survey of object detecting device
It measures in range, continually scans for the noncooperative target around aircraft.The origin of aircraft coordinate system is the several of 2 mounting surface of software arm
What center O3, Z3Axis direction is perpendicular to 2 mounting surface of software arm, X3Axis, Y3Axis and Z3Axis relationship meets the right-hand rule.Assuming that detecting
Noncooperative target is the sphere of rule, and sphere diameter R, R=500mm, 2 mounting surface of software arm of aircraft platforms 1 is 1500mm
The square of side length, 2 vertical expansion of software arm, end are 1500mm with a distance from mounting surface, calculate noncooperative target and are flying
Geometric center coordinates under row device coordinate system are (0,0,2500), and control aircraft adjusts posture, makes invocation point O3With non-cooperative target
The line L of target geometric center1It is vertical with 2 mounting surface of software arm of aircraft platforms 1.
Step 2: control aircraft is along L1Direction is close to noncooperative target, as the L of object detecting device feedback1Length with
When less than threshold value 2200mm, capturing system controller sends software arm 2 to fluid pressure control system and stretches instruction, by fluid pressure
The fluid cavity fluid pressure that Force control system controls each software arm 2 is consistent, so that each software arm 2 stretches.
Step 3: control aircraft is along L1Direction is further to as the L of object detecting device feedback1Length be less than
When threshold value 200mm, software arm 2 is circumferentially uniformly distributed a circle along mounting surface, is successively 1,2,3,4 to the number of software arm 2, wherein compiling
Number software arm 2 for being 1,3 is the 1st group, and number 2,4 is the 2nd group, and the software arm 2 of the 1st group of control is to aircraft platforms 1
Geometric center bending, the bending radius of all software arms 2 are R11, R11It is the 1/2 of mounting plane catercorner length, until software
Arm 2 contacts the surface of noncooperative target, and the roll rate of noncooperative target is made to be reduced to threshold value V1When=0.1rad/s, control the
2 groups of software arms 2 are bent to the geometric center of aircraft platforms 1, realize arresting for noncooperative target.Wherein, single software arm 2 to
The curved control method of aircraft platforms 1 are as follows: fluid pressure control system controls on the Fluid pressure P1 of first fluid cavity 21
It rises, the Fluid pressure P2 of second fluid cavity 22 and the Fluid pressure P3 of third fluid channels 23 are constant, when P1 reaches in pressure
When limit value 1MPa, if software arm 2 does not bend to given extent or touching noncooperative target, P2 and P3 decline is controlled, until
Body arm 2 bends to given extent or touches noncooperative target, in control process, if P2 and P3 pressure value reaches lower limit value
0.1MPa then stops continuing falling pressure, judges software arm failure.
Unspecified part of the present invention belongs to technology well known to those skilled in the art.
Claims (10)
1. a kind of software arm capturing system, which is characterized in that including aircraft platforms (1), several software arms (2), Fluid pressure
Control system, object detecting device, capturing system controller；Several software arms (2) are mounted on aircraft platforms (1), each
The inside of software arm (2) is circumferentially being evenly distributed with several fluid channels, and each fluid channels are axially extending along software arm (2)；
Fluid pressure control system control enters Fluid pressure in fluid channels, realizes that software arm (2) are stretched or to aircraft
The bending of geometric center direction；Object detecting device is mounted on aircraft platforms (1), detects the position of noncooperative target, will be examined
The location information measured is sent to capturing system controller；It arrests controller and controls fluid pressure control system to software arm (2)
Fluid channels in input different pressures fluid, realization noncooperative target is arrested.
2. a kind of software arm capturing system according to claim 1, it is characterised in that: the internal stream of the software arm (2)
Body cavity road has three, and it is first fluid cavity (21), second fluid cavity (22), third fluid that three fluid channels are numbered respectively
Cavity (23), in the contact surface of software arm (2) and aircraft platforms (1), second fluid cavity (22) and third fluid channels
(23) line of centres L2With the center of first fluid cavity (21) and the geometric center line L of aircraft3Vertically, first fluid
The center of cavity (21) and the geometric center of aircraft are located at line L2Two sides.
3. a kind of software arm capturing system according to claim 2, it is characterised in that: the material of the software arm (2) is
Compounded rubber.
4. a kind of method for carrying out space non-cooperative target racemization using software arm capturing system, which is characterized in that including step
It is as follows:
Step 1: it using the noncooperative target around the object detecting device sense aircraft of software arm capturing system, calculates non-
Geometric center coordinates (X of the cooperative target under aircraft coordinate system1,Y1,Z1), control aircraft adjusts posture, so that aircraft
Geometric center and noncooperative target geometric center line L1It is vertical with software arm (2) mounting surface of aircraft platforms (1)；
Step 2: control aircraft is along line L1Direction is close to noncooperative target, as the L of object detecting device feedback1Length with
Less than threshold value a1When, capturing system controller sends software arm (2) to fluid pressure control system and stretches instruction, by Fluid pressure
The fluid cavity fluid pressure that control system controls each software arm (2) is consistent, so that each software arm (2) stretches；
Step 3: control aircraft is along L1Direction controls software arm and realizes grabbing for noncooperative target further to noncooperative target
It catches.
5. a kind of method for carrying out space non-cooperative target racemization using software arm capturing system according to claim 4,
It is characterized by: the software arm capturing system includes aircraft platforms (1), several software arms (2), Fluid pressure control system
System, object detecting device, capturing system controller；Several software arms (2) are mounted on aircraft platforms (1), each software arm
(2) inside is circumferentially being evenly distributed with several fluid channels, and each fluid channels are axially extending along software arm (2)；Fluid pressure
Force control system control enters the Fluid pressure in fluid channels, realizes that software arm (2) are stretched or into the geometry of aircraft
The bending of heart direction；Object detecting device is mounted on aircraft platforms (1), is detected the position of noncooperative target, be will test
Location information is sent to capturing system controller；Arrest controller control fluid of the fluid pressure control system to software arm (2)
The fluid of different pressures is inputted in cavity, noncooperative target is arrested in realization.
6. a kind of method for carrying out space non-cooperative target racemization using software arm capturing system according to claim 5,
It is characterized by: the fluid channels of software arm (2) inside have three, it is first-class body cavity that three fluid channels are numbered respectively
Road (21), second fluid cavity (22), third fluid channels (23), the contact surface in software arm (2) and aircraft platforms (1)
It is interior, the line of centres L of second fluid cavity (22) and third fluid channels (23)2With the center of first fluid cavity (21) and fly
The geometric center line L of row device3Vertically, the center of first fluid cavity (21) and the geometric center of aircraft are located at line
L2Two sides.
7. a kind of side for carrying out space non-cooperative target racemization using software arm capturing system according to claim 5 or 6
Method, it is characterised in that:
The specific method is as follows for the step 3: as the L of object detecting device feedback1Length be less than threshold value a2When, control the
1 group of software arm (2) is bent to the geometric center of aircraft platforms (1), until the table of software arm (2) contact noncooperative target
Face reduces the roll rate of noncooperative target；When the roll rate of noncooperative target is reduced to threshold value V1When, control the 2nd group
Software arm (2) is bent to the geometric center of aircraft platforms (1), realizes arresting for noncooperative target.
8. a kind of method for carrying out space non-cooperative target racemization using software arm capturing system according to claim 7,
It is characterized by: the software arm (2) is circumferentially uniformly distributed a circle along software arm mounting surface, successively it is to software arm (2) number
1,2,3 ... 2n, wherein number is 1,3,5 ..., the software arm (2) of 2n-1 is the 1st group, and number 2,4,6 ... 2n is the 2nd group, n
For positive integer.
9. a kind of method for carrying out space non-cooperative target racemization using software arm capturing system according to claim 8,
It is characterized by: the single software arm (2) is to aircraft platforms (1) curved control method are as follows: fluid pressure control system
The Fluid pressure P1 for controlling first fluid cavity (21) rises, the Fluid pressure P2 and third fluid cavity of second fluid cavity (22)
The Fluid pressure P3 in road (23) is constant, when P1 reaches upper pressure limit value, if software arm (2) does not bend to given extent,
Control P2 and P3 decline.
10. a kind of method for carrying out space non-cooperative target racemization using software arm capturing system according to claim 9,
It is characterized by: the origin of the aircraft coordinate system is the geometric center of the software arm mounting surface of multiple software arms (2), Z axis
Direction meets the right-hand rule perpendicular to software arm mounting surface, X-axis, Y-axis and Z axis relationship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811543976.8A CN109649698B (en) | 2018-12-17 | 2018-12-17 | Soft arm capture system and spatial non-cooperative target despinning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811543976.8A CN109649698B (en) | 2018-12-17 | 2018-12-17 | Soft arm capture system and spatial non-cooperative target despinning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109649698A true CN109649698A (en) | 2019-04-19 |
| CN109649698B CN109649698B (en) | 2022-01-04 |
Family
ID=66113696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811543976.8A Active CN109649698B (en) | 2018-12-17 | 2018-12-17 | Soft arm capture system and spatial non-cooperative target despinning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109649698B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104344A (en) * | 2021-12-07 | 2022-03-01 | 哈尔滨工业大学 | Flexible pneumatic catching mechanism for space catching non-cooperative target |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2100826A (en) * | 1981-06-18 | 1983-01-06 | Ferranti Ltd | Remotely controlled arm |
| US4792173A (en) * | 1987-10-30 | 1988-12-20 | Duke University | Fluid actuated limb |
| DE19500368A1 (en) * | 1995-01-09 | 1995-05-24 | Klaus Prof Dr Ing Affeld | Micromanipulator based on hollow fibre for small components or tools |
| CN102873675A (en) * | 2012-09-19 | 2013-01-16 | 浙江工业大学 | Biomimetic crop picking robot |
| CN104743140A (en) * | 2015-03-28 | 2015-07-01 | 哈尔滨工业大学 | Grabbing type inflated arresting hand |
| CN106218921A (en) * | 2016-07-25 | 2016-12-14 | 西北工业大学 | The arresting agency of a kind of flexible expandable collision triggering and method |
| CN106584507A (en) * | 2016-05-19 | 2017-04-26 | 北京卫星环境工程研究所 | Fully compliant pneumatic mechanical arm structure |
| CN106882402A (en) * | 2017-01-20 | 2017-06-23 | 北京空间飞行器总体设计部 | A kind of capture racemization mechanism suitable for spin space fragment |
| CN108974396A (en) * | 2018-08-02 | 2018-12-11 | 西北工业大学 | The fault-tolerant break catching apparatus of more finger envelop-types and method of space-oriented rolling faulty target |
-
2018
- 2018-12-17 CN CN201811543976.8A patent/CN109649698B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2100826A (en) * | 1981-06-18 | 1983-01-06 | Ferranti Ltd | Remotely controlled arm |
| US4792173A (en) * | 1987-10-30 | 1988-12-20 | Duke University | Fluid actuated limb |
| DE19500368A1 (en) * | 1995-01-09 | 1995-05-24 | Klaus Prof Dr Ing Affeld | Micromanipulator based on hollow fibre for small components or tools |
| CN102873675A (en) * | 2012-09-19 | 2013-01-16 | 浙江工业大学 | Biomimetic crop picking robot |
| CN104743140A (en) * | 2015-03-28 | 2015-07-01 | 哈尔滨工业大学 | Grabbing type inflated arresting hand |
| CN106584507A (en) * | 2016-05-19 | 2017-04-26 | 北京卫星环境工程研究所 | Fully compliant pneumatic mechanical arm structure |
| CN106218921A (en) * | 2016-07-25 | 2016-12-14 | 西北工业大学 | The arresting agency of a kind of flexible expandable collision triggering and method |
| CN106882402A (en) * | 2017-01-20 | 2017-06-23 | 北京空间飞行器总体设计部 | A kind of capture racemization mechanism suitable for spin space fragment |
| CN108974396A (en) * | 2018-08-02 | 2018-12-11 | 西北工业大学 | The fault-tolerant break catching apparatus of more finger envelop-types and method of space-oriented rolling faulty target |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104344A (en) * | 2021-12-07 | 2022-03-01 | 哈尔滨工业大学 | Flexible pneumatic catching mechanism for space catching non-cooperative target |
| CN114104344B (en) * | 2021-12-07 | 2024-06-21 | 哈尔滨工业大学 | Flexible pneumatic capturing mechanism for spatially capturing non-cooperative targets |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109649698B (en) | 2022-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108974396B (en) | Multi-finger enveloping type fault-tolerant capturing device and method for space rolling failure target | |
| CN106166749A (en) | The motion track planing method of multi-arm robot is moved in a kind of space | |
| CN109250156B (en) | Space non-cooperative target electromagnetic eddy current despinning capture device and method | |
| CN103010491B (en) | Control method for mechanical arm capture test on air-floating tables | |
| CN107538508A (en) | The robot automatic assembly method and system of view-based access control model positioning | |
| CN107609222B (en) | Method for calculating contact collision force of tail end of space robot | |
| CN109434862A (en) | A kind of active friction end effector towards two-dimensional space friction applications | |
| CN108919649A (en) | It is a kind of to arrest optimal path design method for what fault satellites external envelope was arrested | |
| CN109649698A (en) | A kind of software arm capturing system and space non-cooperative target racemization method | |
| CN109573117B (en) | Micro-gravity simulation device for rolling characteristics of large-scale space target | |
| CN109262652B (en) | Interference detection early warning method for multi-rod multi-joint mechanism | |
| CN105382843A (en) | Coordination control method for mechanical arm and operation platform in final stage of grabbing | |
| CN106569502A (en) | Complex attitude adaptive control method after multi-rotor aircraft captures target | |
| CN109795721B (en) | Passive racemization device and racemization method for failed spacecraft | |
| CN110027732A (en) | A kind of gravity unloading device in spacecraft lightweight components assembly and debugging process | |
| CN111693245A (en) | Non-decoupling motion allocation method for continuous on-orbit linkage track capture experiment | |
| CN117401187A (en) | Complex-shape spacecraft collision avoidance control method based on algebraic conditions | |
| CN108445778A (en) | A kind of dynamic modeling method non-fully constraining assembly for space non-cooperative target | |
| CN106585963A (en) | Aerial robot | |
| CN112078836B (en) | Large inflatable flexible despinning device and method | |
| CN116661342A (en) | Space robot fixed time impedance control method for target grabbing | |
| Murakami et al. | Motion planning for catching a light-weight ball with high-speed visual feedback | |
| CN104898635A (en) | High thrust liquid rocket fault reconfiguration control method | |
| CN110188494B (en) | Method for determining expected envelope point in flexible capture | |
| CN206031815U (en) | Solar wing board cable suspension device's brake buffer device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |