空间大型末端执行器捕获动力学与实验研究

Capturing Dynamics and Experiment of the Space Large End Effector

以绳索式末端执行器为研究对象,基于离散化方法,采用六维弹簧柔性连接方式建立了绳索动力学模型,并引入绳索与目标间的非线性接触碰撞力和摩擦力模型,获得末端执行器捕获动力学模型,并设计了末端捕获冲击实验,验证了模型的正确性。所建模型可充分考虑绳索的空间运动状态以及捕获过程中绳索与目标间的接触碰撞过程,基于此模型可预示并预防捕获过程中瞬时的较大冲击。对于机构设计和控制器调试具有一定意义,并可作为物理试验的有效补充,解决我国未来空间大型目标捕获任务地面试验验证困难的问题。

In this paper,a dynamics model of the rope is built by using the 6 dimensional spring flexible connection based on the discretization method,both nonlinear contact force and friction force between the rope and the target are introduced to obtain the capturing dynamics model of the end effector,and the end impact capture test is designed to prove the correctness of the dynamics model.This model fully considers the space motion state of rope and the process of contact -impact between the wire rope and the target.Because the model has the ability to predict and prevent the impact brought by the capturing process,it is not only a meaningful exploration in design of mechanism and controller,but also an effective supplement for the physical experiment to solve the problem that it is difficult to do the ground test of the space large target capturing task of China in the future.