空间站转位机构捕获连接特性测试方案及实施

Test Scheme of Capture and Connection Characteristics of China Space Station’s Transfer Mechanism and Its Implementation

针对中国空间站转位机构转臂捕获基座时的多环节误差,采用捕获偏差等效方法,研制串联式六自由度力随动试验平台,模拟转臂与基座之间的位姿偏差和载荷,进行转位机构捕获连接特性测试。在一定初始位姿偏差下对转臂与基座的捕获特性进行测试;在转臂与基座连接过程中加载六维力,对转臂与基座之间的连接能力进行测试。对转位机构产品在试验系统测试所得特性和测试系统等效性进行了分析,结果表明:测试系统能够正确反映产品特性,解决了捕获初始偏差设定和连接面载荷随动加载的测试问题,可为各种对接机构工程化测试与分析提供参考。

In view of the multi-link error of the rotating arm of the China Space Station's transfer mechanism when capturing the transposition socket,a series 6-DOF force following test platform was proposed using the equivalent method of capture deviation.The position and pose deviation and load between the rotation arm and the transposition socket were simulated,and the capture connection characteristics of the rotating mechanism were tested.The specific test scheme was to test the capture characteristics of the tumbler and the transposition socket under a certain initial pose deviation.During the connection between the tumbler and the transposition socket,the six-dimensional force was loaded,and the connection ability between the bumbler and the transposition socket was tested.Further,the specific implementation scheme of the test system was introduced,the characteristics of the products of the transposition mechanism tested in the test system were analyzed,and the equivalence of the test system was analyzed,which may provide reference for the engineering test and analysis of various docking mechanisms.