空间机械臂锁紧点布置方法的研究

Research on locked point arrangement method of spatial mechanical arm

为了使空间机械臂能够安全可靠地运行,在发射时需要进行可靠的锁紧固定,因此空间机械臂的锁紧固定十分重要。在进行锁紧固定时,需要确定最优的锁紧点数目和位置。针对机械臂锁紧点数量及位置的布置方法,运用有限元理论,分析了几种不同形式的机械臂臂杆锁紧点添加时系统一阶固有频率的变化趋势,确定了针对不同形式臂杆锁紧点的添加方法,可对类似的锁紧问题提供一定的指导意义。

In order to make the spatial mechanical arm run safely and reliably, it need to be locked and fLxed soundly when launched. Therefore, it is crucial to lock and fix the spatial me- chanical arm. During the process of locking and fixing, it is re-quired to make sure the number and position of the locked points was optimized. In view of the number and location of locked points, when the finite theory is applied, the natural frequency trend of first spatial mechanical arm is analyzed because several different forms of locked points are added, and the locked points adding method of spatial mechanical arm is obtained; locked points adding steps are also achieved, it can provide certain guiding significance for similar locking problems.