新型六自由度运动模拟器及其性能测试

New Six-degree Freedom Motion Simulator and Its Performance Study

基于三爪式对接机构的缓冲性能,针对验证捕获、缓冲和连接等组件的技术参数要求,设计了一种新型六自由度运动模拟器.分析了六自由度对接运动原理,依据欧拉转动定理,推导出目标运动模拟器的变换矩阵,详细介绍了运动模拟器以及关键部件的结构和工作原理,并对关键部件进行了应力仿真分析,将成型的三爪式对接机构安装在运动模拟器上进行了联合试验.仿真分析结果表明,在最大撞击力下,关键部件的最大变形量和最大应力均满足设计指标要求.通过对样机的试验验证,各个自由度的运动行程和偏转角度均能满足技术指标要求.

Based on cushioning property of three-jaw docking mechanism, a new six-degree of freedom motion simulator was built to verify technical parameters of capture, buffer and connected components. This paper analyzed six-degree freedom docking motion theory, deduced transformational matrix of target motion simulator, and introduced in detail the structure and working principle of motion simulator and key parts. This paper described Stress simulation analysis of the key parts and combined test of motion simulator by installing available three-jaw docking mechanism. The result of simulation analysis shows that the maximum deformation and maximum stress meet the requirements of design index under the condition of maximum impact force. The results of experimental verification show that both motion displacement of each degree of freedom and deflection angle meet the requirements of design index.