Research On Space Debris Capture Robot Based On Origami Principle And Its Capture Characteristic

Capturing Space Debris the capture mechanism carried by spacecraft such as service satellites is one of the ways to clean up space debris.The origami capture mechanism has the characteristics of reusability,closed envelope,stable grip,and flexibility,which meets the capture requirements of non-cooperative targets such as space debris.The application of the closable envelope origami mechanism in the space capture mechanism has important academic research and engineering practical value for on-orbit service tasks such as space extravehicular work assistance and orbital debris cleaning.This paper innovatively proposed a folding-plate linkage enveloping origami mechanism,and has carried out research on the kinematics of the origami mechanism,design of the driving mechanism,and dynamics simulation.In this paper,an envelopeable origami configuration was proposed.By studying the assembly mobility of origami units,a calculation method for the degrees of freedom of origami mechanisms was summarized.Summarize the crease distribution law of origami mechanism,and carry out parametric modeling of origami mechanism.Three parameter matching relationships were proposed,namely,the length of the equal-proportion crease,the area of the equal-proportion folding plate,and the equal-proportion configuration angle.The axisymmetric kinematics model of the origami mechanism was established by geometric analysis method,and the coordinate transformation method of any point of the folding plate is proposed.Established an asymmetric folding kinematic model of origami mechanism,used quaternion to solve the coordinates of each vertex,and improved the efficiency of kinematic model solution.Based on the kinematics model,the axisymmetric folding characteristics of the origami mechanism were analyzed,and the movement law of the tip vertex of the origami mechanism under three parameter matching relationships was studied.Analyzed the phenomenon of reverse folding of origami mechanism folding plate and summarized the movement law of origami mechanism under the reverse folding state of different folding plates.When there are too many folded plates in a single half-folding module of the origami mechanism,the tip folding plate will curl inward.By increasing the number of folding modules or folding the folding plate in reverse,the folding plate can be effectively prevented from curling inward.A calculation method for the envelope cavity volume of the origami mechanism was proposed and an evaluation index for the envelope performance of the origami mechanism was formed.An asymmetric folding method of the origami mechanism based on force-guided driving was proposed and established the mechanical transfer model of the origami mechanism.An optimization method for the closure of origami mechanism guided by radial force and circumferential force was proposed.Aiming at the axisymmetric folding mode of origami mechanism,a single-degree-offreedom driving mechanism was designed,based on which a multi-degree-of-freedom independent driving mechanism was proposed to form an origami capture robot.Simulation software was used to simulate the origami mechanism’s capture of space debris in a microgravity environment.The simulation results showed that the origami mechanism can complete the task of the closed envelope capture of irregular targets.