Study on enveloping origami claw drive mechanism

Aiming at the driving requirements of non-cooperative mechanism for target acquisition in space debris clean-up mission, this paper adopts the configuration synthesis theory. Firstly, kinematic analysis is carried out on the origami claw, and then the mechanism analysis is carried out to obtain the relationship between the cell number and the number of motion pairs of the driving mechanism. Then, the schematic diagram of the motion chain is enumerated with the knowledge of Journal of Graph Theory to select five kinds of driving mechanism, and the comprehensive analysis is carried out on the scale. The parametric design is completed, the mathematical model and three-dimensional model are established, and the kinematic analysis is carried out to obtain the motion trajectory, deflection Angle, slide displacement and other motion laws of the driving mechanism. Then the driving mechanism is compared and screened to screen out the driving mechanism with smaller slide displacement and larger deflection Angle. The 3D model of the driving mechanism is simulated by using simulation software. The simulation results show that the driving task of the folding hand claw can be completed well.