摘要
转位机构是组建中国空间站的重要机构,其捕获连接机构实现可靠连接的过程,会导致连接处产生较大载荷。针对连接状态下对接机构、肩关节和腕关节弹簧机构、捕获连接机构与基座连接而成的刚体闭链系统,进行静平衡受力分析。通过建立基座连接处的载荷与对接机构力和力矩、肩、腕关节机构力矩的关系,提出了一种载荷包络的估算方法,从机理上把握了所关注连接处的载荷特点和数量级。最后给出了典型工况的动力学仿真结果分析以及与估计值的比较,说明估算方法的可行性,为转位机构载荷设计提供了参考。
The transposition mechanism is an important mechanism for the establishment of China space station.The process of reliable connection of its capture connection mechanism will lead to large load at the connection.The static equilibrium force analysis is carried out for the docking mechanism in the connection state,the spring mechanism of shoulder and wrist joint,and the rigid closed chain system connected between the capture connection mechanism and the base,by establishing the relationship between the load at the base connection and the force and torque of the docking mechanism and the torque of the shoulder and wrist mechanism,an estimation method of load envelope is proposed,and the load characteristics and order of magnitude of the concerned connection are grasped from the mechanism.Finally,the dynamic simulation results of typical working conditions are analyzed and compared with the estimated values to illustrate the feasibility of the estimation method.It provides a reference for the load design of transposition mechanism.
作者
胡雪平
刘艳
张俞
谢哲
柏合民
王治易
HU Xueping;LIU Yan;ZHANG Yu;XIE Zhe;BAI Hemin;WANG Zhiyi(School Aerospace System Engineering Shanghai,Shanghai 201109,China)
出处
《上海航天（中英文）》
CSCD
2022年第S02期91-95,138,共6页
Aerospace Shanghai（Chinese&English）
关键词
转位机构
对接机构
捕获连接机构
静平衡
受力分析
载荷估算方法
transposition mechanism
docking mechanism
capture connection mechanism
static equilibrium
force analysis
load estimation method
作者简介
胡雪平(1977—),女,硕士,高级工程师,主要研究方向为空间机构动力学仿真与控制。
