多面体网型空间抓捕机构的设计与分析
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摘要
提出一种面向空间服务需求的新型多面体网型空间抓捕机构,以3-RRS并联机构为本体,将其动平台用空间单闭环六杆机构Bricard机构替代,通过Bricard网口的缩放运动和本体的包拢变形对空间目标进行抓捕以及位置和姿态的调整。通过在ADAMS软件中进行仿真来验证其抓捕过程,并以仿真所得关节受力情况为基础,在ANSYS软件和I-DEAS软件中进行仿真分析,对所提出的多面体网型空间抓捕机构进行强度分析与热平衡分析的工作,确保其机械结构强度和对热环境的适应性能够满足实际使用的需求。理论分析和仿真试验结果表明:该机构可满足空间目标抓捕任务的需求。
A novel polyhedral net space capture mechanism for space service is proposed in the paper. The capture mechanism consists of a 3-RRS parallel mechanism(a spatial mechanism with 3-DOF)as the main body and a Bricard linkage(a spatial single closed - loop six - bar mechanism with 1 - DOF)as the moving platform. Through the folding motion of the Bricard linkage and the shrinking motion of the main body,the mechanism can capture the target in space and adjust its position and posture. The capture process is verified by the simulation in ADAMS. Based on the joint stress from the simulation,the strength analysis and thermal balance analysis of the proposed polyhedral net space capture mechanism are conducted in ANSYS and I -DEAS,which ensure the mechanical strength and thermal adaptability of the mechanism can meet the requirements of actual application. It is shown by the results of theoretical analysis and simulation experiment that the mechanism can meet the requirement of space target capture tasks.
A novel polyhedral net space capture mechanism for space service is proposed in the paper. The capture mechanism consists of a 3-RRS parallel mechanism(a spatial mechanism with 3-DOF)as the main body and a Bricard linkage(a spatial single closed - loop six - bar mechanism with 1 - DOF)as the moving platform. Through the folding motion of the Bricard linkage and the shrinking motion of the main body,the mechanism can capture the target in space and adjust its position and posture. The capture process is verified by the simulation in ADAMS. Based on the joint stress from the simulation,the strength analysis and thermal balance analysis of the proposed polyhedral net space capture mechanism are conducted in ANSYS and I -DEAS,which ensure the mechanical strength and thermal adaptability of the mechanism can meet the requirements of actual application. It is shown by the results of theoretical analysis and simulation experiment that the mechanism can meet the requirement of space target capture tasks.
引文
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[18]高健,吴洪涛.某一特殊普通面对称Bricard机构及其分析[J].应用科技,2011,38(1):54‐58.GAO Jian,WU Hongtao.One special type of the gen‐eral plane‐symmetric Bricard linkages and its analysis[J].Applied Science and Technology,2011,38(1):54‐58.
[19]秦文波.空间实验室对接机构热控分析及试验研究[D].上海:上海交通大学,2010.QIN Wenbo.Thermal control analysis and test investi‐gation of docking mechanism on the space laboratory[D].Shanghai:Shanghai Jiao Tong University,2010.
[20]李鹏.航天器热网络理论及其在热控设计中的应用研究[D].上海:上海交通大学,2007.LI Peng.Study on thermal network theory and applica‐tion in thermal control design of spacecraft[D].Shang‐hai:Shanghai Jiao Tong University,2007.
[21]安敏杰,程惠尔,李鹏.空间对接机构太阳外热流的计算与分析[J].上海航天,2006(1):22‐26.AN Minjie,CHENG Huier,LI Peng.Computation and analysis of solar external heat flux in the docking mechanism[J].Aerospace Shanghai,2006(1):22‐26.
[2]王晓海.空间在轨服务技术及发展现状与趋势[J].卫星与网络,2016(3):70‐76.WANG Xiaohai.Development and trend of space on‐orbit servicing technology[J].Satellite&Network,2016(3):70‐76.
[3]林来兴.美国“轨道快车”计划中的自主空间交会技术[J].国际太空,2005(2):23‐27.LIN Laixing.The independent rendezvous and dock‐ing technology in the plan of"Orbital Express"in American[J].Space International,2005(2):23‐27.
[4]李强.新型类锥杆式对接机构的碰撞过程分析[D].长沙:国防科学技术大学,2009.LI Qiang.Collision analysis of a new quasi probe‐cone docking mechanism[D].Changsha:National Universi‐ty of Defense Technology,2009.
[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.LIANG Bin,DU Xioadong,LI Cheng,et al.Advanc‐es in space robot on‐orbit servicing for no‐cooperative spacecraft[J].Robot,2012,34(2):242‐256.
[6]王超,董正宏,尹航,等.空间目标在轨捕获技术研究综述[J].装备学院学报,2013,24(4):63‐66.WANG Chao,DONG Zhenghong,YIN Hang,et al.Research summarizing of on‐orbit capture technology for space target[J].Journal of Equipment Academy,2013,24(4):63‐66.
[7]房海蓉,陈江红.一种新型四自由度并联机构设计与分析[J].北京交通大学学报,2011,35(4):134‐137.FANG Hairong,CHEN Jianghong.Structure synthe‐sis and analysis of a novel four‐degree‐of‐freedom par‐allel manipulator[J].Journal of Beijing Jiaotong Uni‐versity,2011,35(4):134‐137.
[8]曲海波,方跃法,郭盛.一种少自由度并联机器人雅克比分析的新方法[J].北京交通大学学报,2010,34(4):136‐140.QU Haibo,FANG Yuefa,GUO Sheng.A new meth‐od for Jaeobian analysis of low‐DOF parallel manipula‐tors[J].Journal of Beijing Jiaotong University,2010,34(4):136‐140.
[9]郭盛,方跃法.并联机器人机构综合方法比较研究[J].北京交通大学学报,2007,31(1):41‐45.GUO Sheng,FANG Yuefa.Comparative study on structural synthesis methods for parallel anipulators[J].Journal of Beijing Jiaotong University,2007,31(1):41‐45.
[10]周昌春,方跃法,叶伟.6‐RRS冗余驱动飞行模拟器运动学与工作空间分析[J].北京交通大学学报,2015,39(1):112‐117.ZHOU Changchun,FANG Yuefa,YE Wei.Flight simulator with 6‐RRS redundant actuation spherical parallel manipulator[J].Journal of Beijing Jiaotong University,2015,39(1):112‐117.
[11]李晔卓,田耀斌,姚燕安.双模式双三角锥滚动机构设计与运动分析[J].哈尔滨工业大学学报,2014,46(5):73‐80.LI Yezhuo,TIAN Yaobin,YAO Yanan.Locomotion analysis and design of a triangular bipyramid rolling mechanism with two modes[J].Journal of Haierbin In‐stitute of Technology,2014,46(5):73‐80.
[12]HUI R,OUELLET A.Mechanisms for haptic feed‐back[C]//1995 IEEE International Conference on Ro‐botics and Automation.Nagoya,Japan:[s.n.],1995:2138‐2143.
[13]DUNLOP G R,JONES T P.Position analysis of a 3‐DOF parallel manipulator[J].Mechanism and Machine Theory,1997,32(8):903‐920.
[14]DUNLOP G R,JONES T P.Position analysis of a two DOF parallel mechanism-The Canterbury tracker[J].Mechanism and Machine Theory,1999,34(4):599‐614.
[15]GREGORIO R.Kinematics of the 3‐RSR wrist[J].IEEE Transactions on Robotics:A publication of the IEEE Robotics and Automation Society,2004,20(4):750‐754.
[16]FULLER R B.Tensile‐integrity structures:United States,3063521[P].1962‐11‐13.
[17]HOBERMAN C.Transformation design[EB/OL].(2014‐05).http:www.hoberman.com/index.html.
[18]高健,吴洪涛.某一特殊普通面对称Bricard机构及其分析[J].应用科技,2011,38(1):54‐58.GAO Jian,WU Hongtao.One special type of the gen‐eral plane‐symmetric Bricard linkages and its analysis[J].Applied Science and Technology,2011,38(1):54‐58.
[19]秦文波.空间实验室对接机构热控分析及试验研究[D].上海:上海交通大学,2010.QIN Wenbo.Thermal control analysis and test investi‐gation of docking mechanism on the space laboratory[D].Shanghai:Shanghai Jiao Tong University,2010.
[20]李鹏.航天器热网络理论及其在热控设计中的应用研究[D].上海:上海交通大学,2007.LI Peng.Study on thermal network theory and applica‐tion in thermal control design of spacecraft[D].Shang‐hai:Shanghai Jiao Tong University,2007.
[21]安敏杰,程惠尔,李鹏.空间对接机构太阳外热流的计算与分析[J].上海航天,2006(1):22‐26.AN Minjie,CHENG Huier,LI Peng.Computation and analysis of solar external heat flux in the docking mechanism[J].Aerospace Shanghai,2006(1):22‐26.
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