空间大型末端执行器漂浮载荷捕获仿真分析

Capture Simulation of Free-floating Target of Large Space End-effector

根据空间大型机械臂对漂浮载荷的捕获要求,研制了一套基于腱-鞘传动的大型空间末端执行器原理样机。小质量/小惯量漂浮载荷是在轨捕获的难点,因此,基于欧拉方程建立末端执行器对漂浮载荷的捕获模型,开展小载荷捕获影响因素的研究,从而明确影响漂浮载荷捕获可靠性的关键参数。并通过Hertz接触模型建立了末端执行器的数值仿真模型,完成了末端执行器对漂浮载荷的捕获数值仿真,从而进一步验证了理论分析的正确性,并为大型机械臂在轨捕获的策略制定提供了依据。

According to the requirement of the capture manipulation of free--floating target of large space manipulator, an end -- effector prototype based on tendon--sheath transmission system is developed. The capture of target with small mass and inertia is difficult for space manipulator on orbit. Therefore, the geometry model and mathematical model of the capture for free--floating target are built based on the Newton--Euler equations. The parameters which play important role in the capture manipulation of free--floating target are obtained through the analysis. The mathematical simulation model of the capture manipulation is presented by Hertz contact model, and the simulations of free-- floating target capture are implemented to verify the theory analysis. The simulations are vital to the implementation of capture strategy for large st^ace mnninfll^t,~r