CN117289446A - Space long-focus closed-loop imaging system capable of automatically focusing - Google Patents
Space long-focus closed-loop imaging system capable of automatically focusing Download PDFInfo
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- CN117289446A CN117289446A CN202311576491.XA CN202311576491A CN117289446A CN 117289446 A CN117289446 A CN 117289446A CN 202311576491 A CN202311576491 A CN 202311576491A CN 117289446 A CN117289446 A CN 117289446A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 36
- 238000012634 optical imaging Methods 0.000 claims abstract description 33
- 230000003287 optical effect Effects 0.000 claims abstract description 15
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000009966 trimming Methods 0.000 claims 4
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 239000000919 ceramic Substances 0.000 description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 239000003822 epoxy resin Substances 0.000 description 2
- 229920000647 polyepoxide Polymers 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 206010070834 Sensitisation Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003071 parasitic effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000008313 sensitization Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/02—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices involving prisms or mirrors
- G02B23/06—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices involving prisms or mirrors having a focussing action, e.g. parabolic mirror
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/16—Housings; Caps; Mountings; Supports, e.g. with counterweight
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Optics & Photonics (AREA)
- Telescopes (AREA)
Abstract
The invention discloses an automatic focusing space long-focus closed-loop imaging system, and belongs to the technical field of spacecraft components. The satellite positioning device comprises a coiled extension arm, wherein the bottom end of the coiled extension arm is connected with a lower platform base, the top end of the coiled extension arm is connected with an upper platform base, and the lower platform base is directly and fixedly connected to a satellite body; two mounting frames are arranged on two sides of the center of the upper platform base, one is a curved surface reflector mounting frame, the other is an optical lens mounting frame, three mounting frames are arranged on two sides of the center of the lower platform base, a laser and a PSD photosensitive plate are respectively mounted on the two mounting frames on the left side, and an optical imaging element fine adjustment base is mounted on the mounting frame on the right side. The imaging system provided by the invention can provide a longer focal length for the imaging system under the limited envelope requirement under the structure of depending on the satellite configuration to be variable.
Description
Technical Field
The invention relates to a space long-focus imaging system, in particular to a space long-focus closed-loop imaging system capable of automatically focusing, and belongs to the technical field of parts of spacecraft navigation.
Background
With the development of aerospace technology, the detection of space is more and more advanced. This also places more stringent demands on space telescopes. Compared with the foundation telescope, the space telescope has no obstruction of the atmosphere, so that the outer space can be observed more clearly. Currently, a large-view-field and long-focus space telescope is a popular research direction. These requirements are high for satellites, which are required to meet long focal length, scalability, adjustability, etc. requirements under a limited envelope. To meet these new requirements, satellite architecture is made available as a solution, and this need for architecture change is often accomplished by a spatially deployable mechanism. Such as a space-coiling type extension arm that is stowed in the satellite launch section and deployed after the satellite has been in orbit. Although the spatially coiled extension arm may provide a longer focal length for the imaging system, the spatially coiled extension arm is generally flexible in structure, which may undergo some degree of deformation in the spatial environment for a long period of time, and this deformation is unpredictable. Because the imaging system is strict to focusing, in order to prevent imaging blurring caused by virtual focus, a high-precision measuring system and an adjusting mechanism are required to be designed to ensure that the imaging system can automatically adjust active focusing. Based on the invention, a space long-focus closed-loop imaging system capable of automatically focusing is provided.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, provides a space long-focus closed-loop imaging system capable of automatically focusing, and particularly provides a space depth measurement technology based on a curved surface reflection technology for providing a basis for focusing of the imaging system. The adjusting mechanism is matched with a spatial depth measurement technology to complete real-time focusing imaging of the optical imaging system, so that the use requirement of the spatial telescope is met.
The technical scheme of the invention is as follows:
the utility model provides a but long focus closed loop imaging system of space of auto focus, includes coiling formula extension arm, and wherein, coiling formula extension arm bottom is connected with lower platform base, and the top is connected with upper platform base, and lower platform base is directly linked firmly on the satellite body;
the geometric center part of the upper platform base is provided with a circular mounting frame which is fixedly connected with a space coiling type stretching arm, two sides of the center of the upper platform base are provided with two mounting frames, one is a curved surface reflector mounting frame which is arranged at one end of the lower side of the upper platform base, and a curved surface reflector is directly arranged on the curved surface reflector mounting frame of the upper platform base in a surface contact and fixed connection mode; the second is an optical lens mounting frame arranged at the through hole at the other end of the upper platform base, the optical lens is in a flat ellipsoid shape as a whole, and is directly and fixedly connected to the optical lens mounting frame, and the connecting surface is the outer circular surface of the optical lens;
the utility model discloses a lower platform base geometry center part is equipped with space coiling formula and extends the arm and draws in a section of thick bamboo in, draws in a section of thick bamboo bottom and space coiling formula and extends arm fixed connection in through space coiling formula and extends the arm, and lower platform base center both sides are equipped with three mounting brackets altogether, and laser instrument and PSD sensitization board are installed respectively to two mounting brackets in the left side, and the optical imaging element fine setting base is installed to the right side mounting bracket, and optical imaging element fine setting base position and upper platform base's optical lens mounting bracket are coaxial under the complete condition of expanding of space coiling formula and extends the arm for join in marriage upper portion's optical imaging element and carry out imaging work.
The laser is reflected by the curved surface reflector, the relative position of the landing point is used as an index for describing the plane position error, the information in the depth aspect is converted into the information in the XY plane direction, meanwhile, the optical imaging element is driven by the optical imaging element fine adjustment base to translate in the Z axis direction by adjusting the fine adjustment base so as to compensate the error, and the curvature of the curved surface reflector is changed to regulate and control the multiple of the error amplification.
Further laser instrument keeps seat and the laser instrument mounting bracket direct fixed connection on the lower platform mount pad, laser instrument keeps seat lower part and circular leaf spring outside fixed connection, and the middle part is equipped with three fine setting screw holes and is used for installing and keeps seat fine setting screw, and the laser instrument is whole to be the cylinder, and its bottom and the circular leaf spring inboard fixed connection of laser instrument keeps seat lower part, and the middle part is connected with three fine setting screw dotted line contact.
The whole PSD light-sensitive plate is a cuboid, and is directly and fixedly connected to the PSD mounting frame of the base of the lower platform in a surface contact manner.
The reflecting surface of the further curved reflecting mirror is a curved surface, and the orthographic projection of the reflecting curved surface is rectangular.
The whole of the further optical imaging element fine adjustment base is a cylinder and is fixedly connected with the lower platform base in a surface contact manner, the whole of the optical imaging element is square, the bottom of the optical imaging element fine adjustment base is fixedly connected with the optical imaging element fine adjustment base in a surface contact manner, and the geometric centers of the contact surfaces of the optical imaging element fine adjustment base and the optical imaging element fine adjustment base are overlapped. The optical imaging element fine adjustment base is used for adjusting the position of the imaging element, so that the imaging quality is ensured.
Further the spatially coiled extension arm essentially comprises: the three hinges and the three cross bars form a layer of triangle transverse frame together, the six diagonal stiffening ropes and the three longitudinal bars are connected together to form a coiled extension arm, the space coiled extension arm is an intermediate connection structure of the imaging system, the upper plane of the space coiled extension arm is fixedly connected with the upper platform base, the connection mode is surface contact and fixedly connected, the position relationship between the connection mode and the connection position is coaxial, and the lower plane of the space coiled extension arm is fixedly connected with the lower platform base.
The invention has the following beneficial effects: the imaging system provided by the invention can provide a longer focal length for the imaging system under the limited envelope requirement under the structure of depending on the satellite configuration to be variable. In addition, the invention provides a space depth measurement technology based on curved surface reflection, which can identify the relative position distance between two ends of the coiled stretching arm with high precision. And then the optical element fine adjustment platform is matched, so that a technical foundation is provided for stable imaging of an imaging system.
Drawings
FIG. 1 is an overall exploded view of the apparatus of the present invention;
FIG. 2 is a schematic view of a lower platform of the apparatus of the present invention;
FIG. 3 is an exploded view of a laser holder;
FIG. 4 is an overall schematic of a coiled extension arm;
FIG. 5 is a partial schematic view of a coiled extension arm;
FIG. 6 is a schematic diagram of a principle of high-precision measurement of the depth of a curved surface reflection space;
in the figure: 1. the device comprises a lower platform base, a laser holder, a laser, a PSD light sensitive plate, a curved surface reflector, an upper platform base, an optical lens, a space coiling type stretching arm system, an optical imaging element fine adjustment platform, a fine adjustment screw, a round plate spring and a round plate spring, wherein the lower platform base, the laser holder, the laser, the PSD light sensitive plate, the curved surface reflector, the upper platform base, the optical lens, the space coiling type stretching arm system, the optical imaging element and the round plate spring are arranged in sequence, and the optical imaging element fine adjustment platform, the fine adjustment screw and the round plate spring are arranged in sequence; 15. the laser comprises a longitudinal rod, 16, a hinge, 17, a stiffening cable, 18, a cross rod, 19, a lower plane, 20, incident laser, 21, reflected laser, 22, the lowest end of a curved mirror, 23, a curved mirror, 24, an upper plane, 25, a laser reflection plane, 26 and laser falling point displacement.
Detailed Description
Working principle:
the space coiling type stretching arm system is in a furled state when the satellite is launched, the whole space envelope is smaller, and the stretching is actively controlled by a control device in the satellite after the satellite is launched into space, so that a longer focal length is provided for the optical imaging system under the limited space envelope, and the launching cost is greatly reduced. In a space environment, the space coiling type stretching arm can deform, shorten or lengthen, and the like. Laser emitted by the laser is refracted through the curved reflector and finally received by the PSD photosensitive plate. And acquiring distance information between the upper platform and the lower plane according to the position of the laser photoelectric falling on the PSD photosensitive plate. And finally, performing displacement compensation by an optical imaging fine tuning platform, thereby ensuring the stable operation of an imaging system.
The imaging system provided by the invention depends on an expandable system, a space coiling type expansion arm in the prior art is selected as the expandable system, and a controller in the system is the prior art.
The following are specific embodiments:
ground preparation:
referring to fig. 1, in the ground test stage, the coiled extension arm is firstly unfolded under the condition of zero gravity, then the laser 3 is turned on, the laser 3 adopts a semiconductor laser, the wavelength is 830nm, the power is 50mw, and in order to ensure that the laser signal can be effectively identified, a parasitic light baffle, an optical filter and a convex lens are also required to be integrated in the laser. The laser light emitted by the laser is made to strike the lowest point of the curved mirror 5 by adjusting a fine adjustment screw on the laser holder. After the adjustment is finished, epoxy resin structural adhesive is filled to lock the laser holder 2 completely, and then the space coiling type stretching arm 8 is folded into a folding cylinder on the lower platform base 1.
The space coiling type stretching arm is in an initial unfolding state:
the whole satellite is launched into space by rocket, and when the satellite reaches a preset orbit, the deployment of the space coiling type stretching arm is controlled. When the spatially coiled extension arm is fully deployed, the laser 3 on the lower platform system begins to operate. Under the combined action of the mechanical locking of the fine tuning screw and the epoxy resin structural adhesive, the laser holder 2 can completely lock the position of the laser 3, so that the laser 3 emits laser light to the curved reflector 5 in the platform system according to a preset angle. The curved mirror 5 reflects the laser light to the PSD photosensitive plate 4 on the lower platform base 1, and finally, the laser light emitted by the laser 3 falls on the PSD photosensitive plate 4. Depending on the curved surface characteristics of the curved surface reflector 5, the laser landing point at the beginning is set at the lowest point of the curved surface reflector 5 because the device is adjusted on the ground, so that the landing point of the laser on the PSD photosensitive plate 4 is a preset point at this moment.
Error generation and compensation:
with the influence of the space environment, the space coiling type stretching arm may be deformed, and the distance between the upper platform base and the lower platform base is changed. At this time, the laser point on the PSD plate is found to be shifted. The small displacement in the Z-axis direction is reflected on the PSD photosensitive plate amplified on the XY plane due to the special curved surface structure of the curved surface emitting mirror 5. And then the optical imaging element fine adjustment base 10 drives the optical imaging element 9 to translate in the Z-axis direction, and the fine adjustment base 10 is restrained by adopting two high-precision linear guide rails, so that the optical imaging element fine adjustment base can carry out high-precision displacement in the Z-axis direction. The micro-adjustment base 10 is driven by a high-precision piezoelectric ceramic motor, such as a fukuh-meter photoelectric AU-Z-stage, one end of the piezoelectric ceramic motor is connected with the bottom fixed end, and the other end is connected with the top displacement end. According to the relative positions of the actual point positions on the PSD photosensitive plate 4 and the preset point positions, the driving direction and the driving amount of the piezoelectric ceramic motor in the fine adjustment base 10 are determined. For example, assuming that the laser is 200mm from the central axis of the mirror, the lowest end of the mirror is 1000mm from the laser plane, the laser incidence angle is arctan (1000/200) = 78.69 °. At this time, the upper plane is shifted downward by 0.5 mm. Through the calculation of the trigonometric function, the laser shifts 2.278mm in the negative direction (left side) at the landing point of the PSD light-sensing plate. The above is to explain the working principle, and the actual working conditions are as follows: when the control system detects that the falling point of the laser on the PSD photosensitive plate deviates 2.278mm towards the negative direction, the upper plane is calculated to deviate downwards by 0.5mm, and at the moment, the control system controls the fine adjustment base through instructions to deviate downwards by 0.5mm so as to ensure that the system can focus and image. The relative positions of the actual falling points and the preset points correspond to the position errors of the upper plane one by one, so that the relative positions of the falling points can be used as indexes for describing the position errors of the upper plane. In addition, the curvature of the curved mirror can be changed to regulate and control the magnification of the error, and the larger the curvature is, the more sensitive the error can be magnified, but the range can be reduced.
Referring to fig. 6, the spatial depth high-precision measurement technology based on curved surface reflection of the present invention is implemented by reflecting laser on a curved surface mirror 5 to analyze the landing point on a PSD photosensitive plate 4, and the technology can convert depth information into XY plane direction information, and has higher sensitivity and precision compared with the general technology.
The incident laser light 20 is emitted from the bottom of the device and is reflected by the top curved mirror 23 back again to the lower device plane 19. The initial calibration position relationship on the ground is as follows: after the coiled extension arm is fully extended, the distance provided by the coiled extension arm is just equal to the focal length of the imaging system, at the moment, the laser signal emitted by the laser just strikes the lowest end 22 of the curved mirror, and the laser reflection plane 25 and the upper and lower planes are parallel (here, the explanation is made that the laser reflection plane 25 is the tangential plane of the laser at the landing point of the laser on the curved mirror 23 and the curved mirror). Once the arm is extended or shortened as a whole due to the space environment, resulting in a distance between the lens and the imaging element that is not equal to the focal length, the landing point of the laser light on the curved mirror changes, and since the reflecting surface of the curved mirror 23 is curved, the angle and position of the laser reflection plane 25 with respect to the upper plane 24 change. Finally, the position of the laser signal reflected by the curved mirror 23 on the PSD board will change, and a laser landing displacement 26 is generated. The angle of the laser reflecting surface 25 greatly affects the location of the final laser signal landing point on the PSD plate, so this approach has a particularly higher sensitivity and accuracy than other planar reflections. In addition, the smaller the curvature radius of the curved reflector is, the more sensitive the system is, the higher the precision is, and the proper curved reflector can be selected according to actual conditions.
The foregoing is merely illustrative of the present invention and is not intended to limit the scope of the invention, which is defined by the claims.
Claims (6)
1. The long-focus closed-loop imaging system comprises a coiled extension arm, and is characterized in that the bottom end of the coiled extension arm is connected with a lower platform base, the top end of the coiled extension arm is connected with an upper platform base, and the lower platform base is directly and fixedly connected to a satellite body;
the geometric center part of the upper platform base is provided with a circular mounting frame which is fixedly connected with a space coiling type stretching arm, two sides of the center of the upper platform base are provided with two mounting frames, one is a curved surface reflector mounting frame which is arranged at one end of the lower side of the upper platform base, and a curved surface reflector is directly arranged on the curved surface reflector mounting frame of the upper platform base in a surface contact and fixed connection mode; the second is an optical lens mounting frame arranged at the through hole at the other end of the upper platform base, the optical lens is in a flat ellipsoid shape as a whole, and is directly and fixedly connected to the optical lens mounting frame, and the connecting surface is the outer circular surface of the optical lens;
the geometric center part of the lower platform base is provided with a space coiling type stretching arm folding cylinder, the bottom of the space coiling type stretching arm folding cylinder is fixedly connected with the space coiling type stretching arm, three mounting frames are arranged on two sides of the center of the lower platform base, a laser and a PSD photosensitive plate are respectively mounted on the two mounting frames on the left side, an optical imaging element fine adjustment base is mounted on the mounting frame on the right side, and the position of the optical imaging element fine adjustment base is coaxial with the optical lens mounting frame of the upper platform base under the condition that the space coiling type stretching arm is completely unfolded and is used for matching with an optical imaging element on the upper part to carry out imaging work;
the laser is reflected by the curved surface reflector, the relative position of the landing point is used as an index for describing the plane position error, the information in the depth aspect is converted into the information in the XY plane direction, meanwhile, the optical imaging element is driven by the optical imaging element fine adjustment base to translate in the Z axis direction by adjusting the fine adjustment base so as to compensate the error, and the curvature of the curved surface reflector is changed to regulate and control the multiple of the error amplification.
2. The auto-focusing long-focus closed-loop imaging system according to claim 1, wherein the laser holder is directly and fixedly connected with the laser mounting frame on the lower platform mounting seat, the lower part of the laser holder is fixedly connected with the outer side of the circular plate spring, three fine tuning screw holes are formed in the middle part of the laser holder for mounting the holder fine tuning screws, the whole laser is a cylinder, the bottom of the laser is fixedly connected with the inner side of the circular plate spring at the lower part of the laser holder, and the middle part of the laser holder is in contact connection with the three fine tuning screw points.
3. The auto-focus long-focus closed-loop imaging system according to claim 1, wherein the PSD photosensitive plate is integrally formed as a cuboid, and is directly and fixedly connected to the PSD mounting frame of the base of the lower platform in a surface contact manner.
4. The auto-focusing spatially long focus closed loop imaging system of claim 1, wherein the reflective surface of the curved mirror is curved and the orthographic projection of the curved reflective surface is rectangular.
5. The auto-focusing spatially long focus closed loop imaging system of claim 1, wherein the optical imaging element trimming base is integrally cylindrical and is fixedly connected with the lower platform base in a surface contact manner, the optical imaging element is integrally square, the bottom of the optical imaging element is fixedly connected with the optical imaging element trimming base in a surface contact manner, and the geometric centers of the contact surfaces of the optical imaging element trimming base and the optical imaging element trimming base overlap.
6. The auto-focusing spatially long focus closed loop imaging system of claim 1, wherein said spatially coiled extension arm consists essentially of: the three hinges and the three cross bars form a layer of triangle transverse frame together, the six diagonal stiffening ropes and the three longitudinal bars are connected together to form a coiled extension arm, the space coiled extension arm is an intermediate connection structure of the imaging system, the upper plane of the space coiled extension arm is fixedly connected with the upper platform base, the connection mode is surface contact and fixedly connected, the position relationship between the connection mode and the connection position is coaxial, and the lower plane of the space coiled extension arm is fixedly connected with the lower platform base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311576491.XA CN117289446B (en) | 2023-11-24 | 2023-11-24 | Space long-focus closed-loop imaging system capable of automatically focusing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311576491.XA CN117289446B (en) | 2023-11-24 | 2023-11-24 | Space long-focus closed-loop imaging system capable of automatically focusing |
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| Publication Number | Publication Date |
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| CN117289446A true CN117289446A (en) | 2023-12-26 |
| CN117289446B CN117289446B (en) | 2024-01-19 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB792662A (en) * | 1953-07-13 | 1958-04-02 | Optical Measuring Tools Ltd | Improvements in or relating to optical alignment apparatus |
| CN101251136A (en) * | 2008-03-31 | 2008-08-27 | 哈尔滨工业大学 | Shrinking connecting-rod locking mechanism |
| CN103693212A (en) * | 2013-12-06 | 2014-04-02 | 上海卫星工程研究所 | Controlled-unfolding coiled stretching arm for unfolding satellite load |
| US20200355724A1 (en) * | 2016-04-21 | 2020-11-12 | Molecular Vista, Inc. | System and method for optical drift correction |
| CN114537711A (en) * | 2022-02-28 | 2022-05-27 | 北京航空航天大学 | Space coiling type extending arm with decoupling control of degree of freedom |
-
2023
- 2023-11-24 CN CN202311576491.XA patent/CN117289446B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB792662A (en) * | 1953-07-13 | 1958-04-02 | Optical Measuring Tools Ltd | Improvements in or relating to optical alignment apparatus |
| CN101251136A (en) * | 2008-03-31 | 2008-08-27 | 哈尔滨工业大学 | Shrinking connecting-rod locking mechanism |
| CN103693212A (en) * | 2013-12-06 | 2014-04-02 | 上海卫星工程研究所 | Controlled-unfolding coiled stretching arm for unfolding satellite load |
| US20200355724A1 (en) * | 2016-04-21 | 2020-11-12 | Molecular Vista, Inc. | System and method for optical drift correction |
| CN114537711A (en) * | 2022-02-28 | 2022-05-27 | 北京航空航天大学 | Space coiling type extending arm with decoupling control of degree of freedom |
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| CN117289446B (en) | 2024-01-19 |
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