Abstract

A two-degree-of-freedom decoupled transmission apparatus for a spatial adhesion pawl mainly includes a tangential loading transmission mechanism and a normal de-adhesion transmission mechanism. The tangential loading transmission mechanism adopts a bevel gear pair, such that the tangential loading transmission mechanism is arranged in a bending manner, and a tangential loading motor of the tangential loading transmission mechanism is collected inside the apparatus. The tangential loading motor is connected to a cam pull plate through the bevel gear pair, a worm gear reducer and a key, and drive the cam pull plate to rotate around a central shaft of an adhesion apparatus. Six transmission bolts on six adhesion units are respectively driven through six cam grooves on the cam pull plate to simultaneously perform centripetal driving on the adhesion units with a further increased force, so as to realize tangential and centripetal loading of the adhesion units.

IPC Classes  ?

• F16H 25/04 - Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion
• F16H 53/00 - Cams or cam-followers, e.g. rollers for gearing mechanisms

Abstract

A space attachment claw transmission apparatus having two degrees of freedom decoupling, mainly comprising a tangential loading transmission mechanism (1) and a normal detachment transmission mechanism (2). The tangential loading transmission mechanism uses a bevel gear pair so that the tangential loading transmission mechanism is in a bent arrangement, a tangential loading motor (32) of the tangential loading transmission mechanism is arranged within the apparatus in a collapsed manner, the tangential loading motor is connected to the bevel gear pair, a worm reducer and a key (28) to drive a cam pull plate (9) to rotate around a central shaft (6) of the attachment apparatus, and six cam grooves on the cam pull plate respectively drive six transmission bolts (10) on six attachment units to perform simultaneous and further boosted centripetal driving on the attachment units, so as to implement tangential centripetal loading on the attachment units. The normal detachment transmission mechanism (2) uses a trapezoidal screw (14) and a two-stage booster mechanism composed of a symmetrically arranged four-rod booster mechanism which is in a dead position during reverse loading, the screw being suspended at a middle height of the four-rod booster mechanism by means of two hinges on opposite corners of the four-rod booster mechanism, an output rod (13) of the two-stage booster mechanism pulling an assembly within the apparatus along the axial direction of the central shaft (6) of the attachment apparatus, so as to drive the cam pull plate and pull the six transmission bolts, to drive the six attachment units to simultaneously fold or reset after detachment.

IPC Classes  ?

• B64G 1/66 - Arrangements or adaptations of apparatus or instruments, not otherwise provided for

Abstract

A rapid gate image processing system and method for a star sensor. The system comprises a CPU and an FPGA. The FPGA comprises a gate control memory, a gate collection module, a gate data memory, a pixel cluster head pixel address memory, and a pixel cluster processing module. The method extracts a gate image of the pixel cluster center by using a navigation star as the center of mass, and with the assistance of the CPU, only the FPGA can complete gate data collection, pixel cluster background estimation, and star point feature quantity calculation. The background in a pixel cluster is evaluated by using gray-scale values of all pixels in the pixel cluster, and thus a gray-scale mean value of all pixels in the pixel cluster is calculated, so that the measurement precision of the star sensor is improved. By means of the system and the method, on the basis of the parallel processing advantages of the FPGA, a plurality of pixel clusters is processed synchronously, and the center of mass of the star points of all pixel clusters are extracted simultaneously.

IPC Classes  ?

• G06T 1/20 - Processor architectures; Processor configuration, e.g. pipelining