空间捕获作业是在轨服务的重要组成部分,采用全驱动关节式机械臂进行空间捕获存在结构复杂、质量大等问题。本文针对空间捕获作业的设计要求,提出一种具有折展和抓取功能的欠驱动自适应式空间捕获装置。该装置采用行星传动实现1个驱动源驱动2个关节的转动,该装置包括三个3自由度的欠驱动机械手指,采用4个电机驱动9个关节运动,且对被捕获对象具有自适应能力。介绍了捕获手抓的设计方案、工作原理,建立捕获装置单指的坐标系,对捕获装置进行了运动学分析。最后通过样机捕获实验,验证了该装置能够实现不同外形尺寸目标的自适应捕获。 Space acquisition is an important part of on-orbit service. The problem of complex structure and mass is encountered in the space-based capture using the all-driven articulated robot. In this paper, aiming at the design requirements of space capture operation, an under-actuated adaptive space-capture device with folding and grabbing functions is proposed. The device uses a planetary drive to achieve a drive source to drive the rotation of two joints, the device includes three three degrees of freedom of underactuated mechanical fingers, the use of four motors to drive 9 joints, and the capture of the object has the ability to adapt . The design scheme and working principle of the capture are introduced. The coordinate system of the capture device is established. The kinematic analysis of the capture device is carried out. At the end of the experiment, a prototype experiment was carried out to verify the device can achieve adaptive capture of different size targets.