Space capturing manipulator based on thick plate paper folding structure

The invention discloses a space capturing manipulator based on a thick plate paper folding structure. The space capturing manipulator comprises an auxiliary driving device, a folding panel, a ball pair, a pin and a sliding pair. The mechanical arm is composed of a plurality of rigid folding panels, single-degree-of-freedom movement can be achieved under the action of a driving device, and centering opening and closing of the mechanical arm are achieved. The single-degree-of-freedom mechanical arm is driven in a single-degree-of-freedom mode, reciprocating linear motion of the driving ring of the driving device is converted into centering opening or closing of the mechanical arm, and the single-degree-of-freedom mechanical arm has the advantages of being easy to control, high in reliability, stable in grabbing and the like and can be well applied to common mechanical arm application fields such as object grabbing. 本发明专利公开了一种基于厚板折纸结构的空间捕捉机械手，包括辅助驱动装置、折叠面板、球副、销、滑动副。该机械手由若干刚性折叠面板组成，在驱动装置的作用下可实现单自由度运动，实现机械手的对心张开和收