单驱动空间可展开变胞捕获机械手设计与分析

doi:10.3901/JME.2025.01.030

摘要/Abstract

摘要： 为改善空间非合作目标捕获任务中抓取机构体积过大、驱动复杂等问题，提出了一种单驱动空间可展开桁架式捕获机械手。基于剪叉机构与变胞原理对可展开基本单元进行了结构设计，并通过同步铰链对可展开单元进行连接，实现单分支桁架上各可展开单元的同步驱动。利用单元中的变胞关节可实现在特定位置使转动副轴线发生变化的特性，使机械手的展开运动转化为平台的翻转运动，完成机械手的捕获动作；在考虑关节摩擦的基础上，利用拉格朗日方程建立了基本可展开单元的动力学模型，通过矢量运算得到各连杆的位置、速度、加速度，同时得到驱动力与等效力矩之间的关系；将单分支机械手桁架等效为一个4R机构，进一步利用牛顿-欧拉递推方法对机械手桁架组合进行了动力学建模，并通过软件仿真验证了模型正确性。所提出的空间捕获机械手具有可展开、可变胞、驱动数量少等优点，可为相关技术领域的研究提供理论指导与借鉴。

关键词: 机械手, 空间捕获, 变胞机构, 可展开机构, 单驱动

Abstract: In order to improve the problems of large volume and complex driving of grasping mechanism in space non-cooperative target capture task, a single-drive space deployable truss capture manipulator is proposed. Based on the scissor mechanism and metamorphic principle, the structure of the deployable basic unit is designed, and the deployable unit is connected by the synchronous hinge to realize the synchronous drive of each deployable unit on the single-branch truss. The characteristics of changing the axis of the revolute joint at a specific position can be realized by using the metamorphic joint in the unit, so that the unfolding motion of the manipulator is transformed into the turning motion of the platform, and the capture action of the manipulator is completed. On the basis of considering the friction, the dynamic model of the basic deployable unit is established by using the Lagrange equation. The position, velocity and acceleration of each connecting rod are obtained by vector operation, and the relationship between the driving force and the equivalent torque is obtained. The single-branch manipulator truss is equivalent to a 4R mechanism, and the dynamic model of the manipulator truss combination is further carried out by Newton-Euler recursive method, and the correctness of the model is verified by software simulation. The proposed space capture manipulator has the advantages of expandable, metamorphic, and small number of drives, which can provide theoretical guidance and reference for the research of related technical fields.

Key words: manipulator, space capture, metamorphic mechanism, deployable mechanism, single-drive

中图分类号:

TH122

韩博, 杨名, 骆明炎, 李明洋, 姚建涛, 赵永生. 单驱动空间可展开变胞捕获机械手设计与分析[J]. 机械工程学报, 2025, 61(1): 30-43.

HAN Bo, YANG Ming, LUO Mingyan, LI Mingyang, YAO Jiantao, ZHAO Yongsheng. Design and Analysis of Single-drive Space Deployable Metamorphic Capture Manipulator[J]. Journal of Mechanical Engineering, 2025, 61(1): 30-43.

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