Design of a clamping mechanism with self-buffering, self-locking, and large opening and closing angles

In the research of space exploration, how to safely recover a satellite is an important subject. At present, the international and domestic common method is to use the flexible grab end, through the manipulator to achieve the satellite grab and drag. Therefore, for the target satellite recovery in this project, based on the manipulator design, it is urgent to carry out flexible grab-end design research. In this paper, the requirements of the target shape, the structure of the end base, the self-weight of the end, the force of the end, and the influence of temperature and electromagnetic radiation are analyzed, and a set of lightweight gripping mechanisms with self-buffering, self-locking, and large angle is designed. The maximum gripping force can reach 2.5 N and the maximum angle can reach 101 radians.