空间大型末端执行器抓捕容差优化及其仿真

Grapple Tolerance Optimization and Simulation of Large-scale Space End-effector

为了使空间大型末端执行器的抓捕操作性能得到最大程度的发挥,不同于传统的从机构设计角度得到末端执行器固定抓捕容差的方法,本文从优化设计学的角度出发,根据末端执行器的工作过程及其原理,将抓捕容差划分为捕获容差和拖动容差两部分,通过分析影响大型末端执行器抓捕容差的结构因素,分别建立了末端执行器捕获容差和拖动容差的数学优化模型,并基于线性加权法和惩罚函数法获得了抓捕容差最优值(128.58mm,128.58 mm,100 mm,15.12,15.12,16.32)T,同时得到了末端执行器本体相对应的结构参数.最终,采用仿真研究方法进行了抓捕容差优化及抓捕性能实验研究.实验结果验证了理论分析的正确性,证明本文提出的末端执行器数学优化模型合理,优化算法正确.

In order to make use of large-scale space end-effector＇s grapple performance farthest, this paper gets fixed grapple tolerance of end-effector from the perspective of optimization design, other than from the perspective of traditional mechanism design. According to end-effector＇s working procedure and principle, the grapple tolerance is divided into two parts： capture tolerance and retract tolerance. Through analyzing structural factors influencing large-scale end-effector＇s grapple tolerance, capture and retract tolerance optimization models are developed respectively. The optimized grapple tolerance （128.58mm, 128.58mm, 100mm, 15.12°,15.12°, 16.32°）T is acquired based on linear weighting method and penalty function method. Finally, some experiments about grapple tolerance optimization and grapple performance are conducted by utilizing simulation technology. Experiment results show that mathematical optimization models proposed are reasonable and the optimization algorithm is right.