Force-sensing self-locking mechanical claw and space truss assembly robot

The invention discloses a force sensing self-locking mechanical claw and a space truss assembly robot, and belongs to the field of space assembly. The self-locking mechanical claw achieves driving and self-locking through the double-thread screws with the opposite rotating directions at the left end and the right end, and sensing of the clamping force is achieved through the strain gauges and the sensing structure. The robot adopts an inchworm-imitating motion mode, the two mechanical claws alternately loosen and grasp, and motion of the robot in a three-dimensional space is achieved through deformation of a body. The motion of the robot on trusses with different section structures in a complex space is achieved, through the vibration self-adaptive control method, force coordination of a mechanism and stable position control of an end effector are kept when the trusses vibrate by the robot, and a convenient solution is provided for space truss assembly. The robot is also suitable for climbing of a rod-shaped