空间机械臂约束模态分析

Restraint modality analysis on spatial mechanical arm

空间机械臂在发射时承受极为恶劣的载荷环境,为确保机械臂在发射工况下不被损坏,利用包带式锁解机构对其进行了可靠锁紧。利用ANSYS软件对锁紧状态下的某空间机械臂进行模态分析,获得其锁紧状态下的固有频率;同时通过对锁紧状态下的机械臂进行灵敏度分析,确定其薄弱环节;提出了改善机械臂锁紧状态下动态特性的具体措施,为机械臂和锁解机构的动态设计和优化设计提供了有效理论依据。

Spatial mechanical arm endures jolly bad load circumstances while at launching. For the sake of insuring the mechanical arm would not be damaged under the working condition of launching, a reliable locking was carried out by the use of belting typed lock-unlock mechanism. Utilizing ANSYS software to carrying out modality analysis on certain spatial mechanical arm under locking state, the inherent frequency was obtained under its state of locking. And at the same time by means of carrying through sensi- tivity analysis on the mechanical arm under the locking state its weak link was ascertained. The concrete measure for improving the dynamic characteristics of mechanical arm under the locking state was put forward, thus an effective theoretical basis for dynamic design and optimization design of the mechanical arm and the lock-unlock mechanism was provided.