Space grabbing manipulator folding and unfolding unit, folding and unfolding mechanism and folding and unfolding method thereof

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Space grabbing manipulator folding and unfolding unit, folding and unfolding mechanism and folding and unfolding method thereof

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HAN BO / LIU ENBO / YANG MING / LIU FENG / ZHANG JIACHUAN / ZHOU YUANZHI

The invention relates to a space grabbing manipulator folding and unfolding unit capable of decoupling stretching and bending motion, which comprises a basic folding and unfolding unit and an expansion folding and unfolding unit which are basically similar in structure, and each of the basic folding and unfolding unit and the expansion folding and unfolding unit comprises a connecting disc chuck, a driving unit, a folding rod group, a shear fork unit and a truss rod; the plurality of connecting disc chucks are connected through the truss rods and the driving folding rods to form a base layer and an expansion layer; the base layer and the expansion layer are connected through the passive folding rods, the driving units and the scissor units to form side faces. The invention further relates to a folding and unfolding mechanism of the space grabbing manipulator. The folding and unfolding mechanism comprises a basic folding and unfolding unit and a plurality of expanding folding and unfolding units of the same structure. According to the space grabbing manipulator folding and unfolding unit, the space grabbing manipulator folding and unfolding mechanism and the space grabbing manipulator folding and unfolding method for decoupling the stretching motion and the bending motion, the stretching motion and the bending motion are decoupled, a redundant driving unit is adopted, and the space grabbing manipulator folding and unfolding unit has the large folding ratio and rigidity, is simple in structure, flexible to control and high in expansibility and has the high practicability and applicability.

本发明涉及一种伸展与弯曲运动解耦的空间抓取机械手折展单元，其包括基础折展单元与扩展折展单元，两者结构基本相似，均包括连接花盘、驱动单元、折叠杆组、剪叉单元和桁架杆；多个连接花盘之间通过桁架杆和驱动折叠杆连接而组成基础层与扩展层；基础层与扩展层之间通过被动折叠杆、驱动单元以及剪叉单元连接而形成侧面；本发明还涉及一种空间抓取机械手折展机构，其包括一个基础折展单元和多个相同结构的扩展折展单元。本发明的一种伸展与弯曲运动解耦的空间抓取机械手折展单元、折展机构及其折展方法，伸展运动和弯曲运动解耦，采用冗余驱动单元，具有较大的折叠比与刚度，结构简单，控制灵活，拓展性强，具有较强的实用性与适用性。