Force-closure analysis and gripping force optimization of test mass caging mechanism sub-system
The test mass caging mechanism sub-system(CMSS)is one of the important parts of the gravitational wave de-tector,but there are few reports on the analysis of the caging mechanism sub-system based on force-closure theory.This arti-cle analyzes the caging mechanism sub-system from the perspective of force closure,so as to provide theoretical support and reference for the design of caging mechanism sub-system and subsequent research.Based on the force wrench theory,the gripping matrix of the fingers and the test mass is established,and the relationship between the contact force and the external force of the test mass is analyzed by the force-closure principle.Through the analysis of the gripping quality indicators,the optimal contact point position is obtained.The gripping force optimization problem is transformed into a nonlinear program-ming problem,and the fmincon function in MATLAB software is used to optimize the contact force.The optimal gripping force is obtained,and the finite element analysis is carried out by ANSYS Workbench software.The maximum deformation of the test mass is 0.4 μm,which meets the design requirements.
force-closurefriction conegripping force optimizationfinite element analysis
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