Modular multi-hinge retractable rigid-flexible coupling space manipulator based on origami structure

A modular multi-hinge retractable rigid-flexible coupling space manipulator based on origami structure comprising:

• a plurality of folding units (1) and a base (2);
• a manipulator with a plurality of the folding units (1) being arranged on the base (2);
• wherein:
• each of the folding units (1) includes a lower chassis and an upper chassis (1-7) and six groups of links disposed between the lower and upper chassis, and the six groups of links are respectively link group I (1-1), link group II (1-2), link group III (1-3), link group IV (1-4), link group V (1-5) and link group VI (1-6);
• connection of the six groups of links is as follows:
• link group I (1-1)-and link group II (1-2) are connected through Hooke hinge 1 (1-8), link group III (1-3) and link group II (1-2) are connected through Hooke hinge 1 (1-8), link group IV (1-4) and link group III (1-3) are connected through Hooke hinge 1 (1-8), link group V (1-5) and link group IV (1-4) are connected through Hooke hinge 1 (1-8), link group VI (1-6) and link group V (1-5) are connected through Hooke hinge 1 (1-8), link group I (1-1) and link group VI (1-6) are connected through Hooke hinge 1 (1-8);
• link group I (1-1), link group III (1-3) and link group V (1-5) have the same structure, and link group II (1-2), link group IV (1-4) and link group VI (1-6) have the same structure;
• the structure of link group I (1-1) and link group II (1-2) and their connection relationship are as follows:
• link group I (1-1) includes:
• a lower link 1 (1-1-2), a first set of angle sensors (1-1-1), a first upper link (1-1-5), a first intermediate link 1 (1-1-7), a first intermediate link 2 (1-1-4), a torsion spring (1-1-8);
• the connection relationship of link group I (1-1) is:
• the lower link 1 (1-1-2) is connected with the lower chassis (1-7) to form a rotating pair, and a first lower angle sensor of the first set of angle sensors (1-1-1) is fixedly connected with a shaft of the lower link 1 (1-1-2) to monitor a rotation speed of the lower link 1 (1-1-2);
• the first upper link (1-1-5) and the upper chassis (1-7) form a rotating pair, a first upper angle sensor of the first set of angle sensors (1-1-1) is fixedly connected with an upper shaft of the first upper link (1-1-5) to monitor a rotation speed of the first upper link (1-1-5);
• the lower link 1 (1-1-2) and the first upper link (1-1-5) form a rotating pair, and the torsion spring (1-1-8) is fixed on a lower shaft of the first upper link (1-1-5) to support the folding unit;
• the first intermediate link 1 (1-1-7) connects with the first upper link (1-1-5) through Hooke hinge 2 (1-1-6);
• the lower link 1 (1-1-2) connects with the first intermediate link 2 (1-1-4) through Hooke hinge 3 (1-1-3);
• link group II (1-2) includes a lower link 2 (1-2-2), a second intermediate link 2 (1-1-4), a second upper link (1-1-5), a second intermediate link 1 (1-1-7), a driving gear (1-2-6), a driven gear (1-2-5), a motor (1-2-1) and a second upper angle sensor (1-1-1);
• connection relationship of link group II (1-2) is as follows:
• the lower link 2 (1-2-2) and the lower chassis (1-7) form a rotating pair;
• the motor (1-2-1) is fixed on the lower chassis (1-7), a rotating shaft of the motor is fixedly connected with the driving gear (1-2-6), and the driven gear (1-2-5) is fixedly connected with a rotating shaft of the lower link 2 (1-2-2), motion and power is transmitted through two meshing gears;
• the second upper link (1-1-5) and the upper chassis (1-7) form a rotating pair;
• the second upper angle sensor (1-1-1) is fixedly connected to a rotating shaft of the second upper link (1-1-5) to monitor a rotation speed of the second upper link (1-1-5);
• the lower link 2 (1-2-2) and the second upper link (1-1-5) form a rotating pair;
• the second intermediate link 1 (1-1-7) is connected with the second upper link (1-1-5) through Hooke hinge 5 (1-2-4);
• the second intermediate link 2 (1-1-4) is connected with the lower link 2 (1-2-2) through Hooke hinge 4 (1-2-3);
• lower link 2 (1-2-2) includes a rigid part (1-2-2-2) and a flexible material part (1-2-2-1) near a lower end of lower link 2 (1-2-2);
• the second upper link (1-1-5) includes a rigid part (1-1-5-2) and a flexible material part (1-1-5-1) near an upper end of the second upper link (1-1-5).