Research on programmable spatial capture mechanism and its motion characteristics based on origami principle

In view of the requirements to capture non-cooperative targets in space debris removal tasks, this study designs a programmable spatial capture mechanism using the closed envelope characteristic of the origami mechanism. An enveloping origami mechanism was proposed, and a programmable parametric design was implemented. First, a kinematic model of the origami mechanism was established, and the motion law of the axisymmetric folding state of the origami mechanism was analysed. The folding performance of the origami mechanism under the three parameter characteristics of equal proportions of crease length, folding plate area, and configuration angle was analysed/established. The optimal parameters of the origami mechanism with closed edges, large envelope space, smooth envelope contour, small windup, and smooth folding motion were obtained. The driving mechanism was designed based on the motion characteristics of the axisymmetric folding origami mechanism. Adams simulation software was used to simulate the capture of space debris by origami mechanisms in a microgravity environment. The simulation results show that the origami mechanism can achieve space debris capture with high reliability, high tolerance, and enveloping.