多体卫星变构关节设计与运动学分析
Design and kinematics analysis of multi-body satellite allosteric joints
白冰涛 1夏鲁瑞 1李森 1徐升1
作者信息
摘要
为解决多体卫星模块间连接强度低、变构过程复杂、需要外力辅助等问题,设计了一种非偏置式三自由度变构关节,可实现多体卫星模块间的可靠连接与稳定精确的相对运动.采用MDH法建立了正运动学模型并推导正运动学方程,并与偏置式变构关节在姿态可操作度与工作空间上进行了对比分析,结果表明在未降低姿态灵活性的前提下实现了工作空间封闭.在Adams中对变构过程进行了运动仿真,变构过程中末端模块的位移与速度曲线平滑无突变,验证了多体卫星结构设计的合理性与正运动学方程的正确性,结果符合预期的设计目标,为未来多体卫星的运动控制与变构规划奠定了基础.
Abstract
In order to solve the problems of low connection strength,complex allosteric process and external assistance between multi-body satellite modules,a non-biased three-degree of freedom allosteric joint was designed,which can realize reliable connection and stable and accurate relative motion between multi-body satellite modules.MDH method was used to establish the forward kinematics model and derive the forward kinematics equation.The comparison between the forward kinematics model and the offset allosteric joint in attitude maneuverability and workspace was made.It was proved that the forward kinematics model achieved the closed workspace without reducing the attitude flexibility.The motion simulation of the allosteric process was carried out in Adams.The displacement and velocity curves of the end module in the allosteric process were smooth without mutation,which verified the rationality of the structure design of the multi-body satellite and the correctness of the forward kinematics equation.The results were in line with the expected design objectives,and laid a foundation for the motion control and allosteric planning of the multi-body satellite in the future.
关键词
多体卫星/变构关节/运动学/工作空间/雅各比矩阵/可操作度Key words
multi-body satellite/allosteric joint/kinematics/work space/Jacobi matrix/operability引用本文复制引用
出版年
2024
NETL
NSTL
万方数据