Design and Analysis of Single-drive Space Deployable Metamorphic Capture Manipulator

doi:10.3901/JME.2025.01.030

Abstract

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

CLC Number:

TH122

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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