圈套式空间抓取装置抓取策略及动力学研究

Research on Grapple Strategy and Dynamic Model of Snare Space Grapple Device

圈套式空间抓取装置采用钢丝绳作为执行元件对目标实施柔性捕获,具有容差大、冲击低、连接刚性高的优点,适合作为大型空间机械臂的末端执行器,用来对高质量、大体积的空间大型目标进行抓取操作。对圈套式空间抓取装置进行研究,给出了圈套式空间抓取装置的结构特点、抓取原理以及"柔性捕获-刚性连接"的抓取策略;对捕获阶段的动力学过程进行分析,利用牛顿-欧拉混合坐标法建立了数学模型,数值仿真试验结果证明动力学过程推导合理,模型建立正确。

Snare space grapple device,using cables as actuator to capture targets flexibly,has advantages of large tolerance,low impact,high connection rigidity,and it is suitable to be used as the end effector of large space manipulator to grapple large space targets with high mass and size.Based on the research of snare space grapple device,the features of structure,principal of grapple,and the strategy of ＇soft capture rigid connection＇are put forward;The capture process is analyzed and the dynamic model is performed by Newton-Euler and hybrid coordinate methods,and its validity and rationality are verified by numerical simulation results.