摘 要：在航天领域中，在轨捕获对接技术是一个重要的研究领域。传统的捕获方式为刚性捕获，控制方式复杂，在捕获效率、可靠性上都存在一定的不足。因此，近年来对软捕获方式的研究越来越多。为了改善在轨捕获对接效果，以范德华力作为基础设计出了一款微小型夹持装置。实验结果表明夹持装置可以实现对玻璃的黏附和卸载，并且效率较高。该装置是一种软捕获 装置，有着较高的捕获效率与可靠性。
关键词：范德华力；夹持装置；在轨捕获对接技术
中图分类号：TG315；TP241 文献标识码：A 文章编号：2096-4706（2020）05-0139-03
A Micro Clamping Device Based on Van Der Waals Force
LI Lin1，2
（1.Hefei CSG Smart Robot Technology Co.，Ltd.，Hefei 230088，China； 2.CSG Smart Science & Technology Co.，Ltd.，Shanghai 201601，China）
Abstract：In the field of aerospace，on orbit capture docking technology is an important research area. The traditional capture method is rigid，and the control method is complex. There are some shortcomings in the efficiency and reliability of capture. Therefore，in recent years，there are more and more researches on soft capture methods. In order to improve the docking effect of on orbit capture，a micro clamping device is designed based on van der Waals force. The experimental results show that the clamping device can achieve the adhesion and unloading of glass，and the efficiency is high. The device is a kind of soft capture mode，with high capture efficiency and reliability.
Keywords：van der Waals force；clamping device；on orbit capture docking technology
参考文献：
[1] MOHAMMED I K，CHARALAMBIDES M N，KINLOCH A J. Modeling the effect of rate and geometry on peeling and tack of pressuresensitive adhesives [J]. Journal of Non-Newtonian FluidMechanics，2016，233：85-94.
[2] MOOSAVIAN S A A，PAPADOPOULOS E. Free-flying robots in space：An overview of dynamics modeling，planning and control [J]. Robotica，2007，25（5）：537-547.
[3] BUALAT M，BARLOW J，FONG T，et al. Astrobee：Developing a Free-flying Robot for the International Space Station [C]// Aiaa Space Conference & Exposition. 2015：4643.
[4] AIKENHEAD，BRUCE A. Canadarm and the space shuttle [J]. Journal of Vacuum Science & Technology A：Vacuum，Surfaces，and Films，1983，1（2）：126-132.
[5] 梁斌，杜晓东，李成，等 . 空间机器人非合作航天器在轨服务研究进展 [J]. 机器人，2012，34（2）：242-256.
作者简介：李林（1985.03-），男，汉族，安徽淮北人，工程师，硕士，研究方向：人工智能。