含铰接间隙与杆件柔性的空间伸展机构单元的动力学建模与计算模拟第一部分:动力学建模

Dynamic Modeling and Computational Simulation of Unit of Space Deployable Mechanism with Joint Clearance and Link Flexibility

实验证明，在空间伸展机构伸展过程中，由于铰接间隙的存在，使机构产生内碰撞，并诱发整个机构的振动和摇摆。伸展机构的内碰撞使得关节内力比平滑伸展时要大大增加，但构件的柔性能减轻碰撞的强度。为了能正确估价在地面实验以及在空间中间隙内碰撞对关节内力以及伸展机构运动的影响，必须建立含铰接间隙及杆件柔件的空间伸展机构的动力学模型。在本文的第１部分给出了用摄动坐标和弹性模态坐标描述的系统动力学模型。

This study presents the effects of joint clearance and link flexibility on the dynamic characteristics of unit of space deployable mechanism.The dynamic model of the system is set up in part Ⅰ of the paper based on Lagrangian formulation using perturbation coordinates and elastic mode coordinates.In part Ⅱ of the paper,some results of computational simulation of dynamic behavior of the system and a detail discussion on the joint impact force and additional vibration induced by connection clearance and link flexibility are given.