摘要
针对非合作目标卫星对接机构的特点及设计要求,选择发动机喷管作为对接接口,设计了一种三臂型非合作目标卫星对接机构,进行了相关运动学和动力学分析。用D-H矩阵法分析了对接机构的正运动学和逆运动学,建立了末端执行器的位姿与关节变量的关系。用拉格朗日方程分析了机械臂关节所受力矩,推导出了关节力矩与运动学参数间的关系,验证了对接机构的捕获能力,用ADAMS进行了对接仿真。理论分析和仿真结果验证了设计机构的正确性,为非合作目标卫星对接机构的后续设计提供了依据。
According to the requirement and the feature of a non-cooperative target satellite docking mechanism,a three-arm non-cooperative target satellite docking mechanism was proposed assumed the engine nozzle as a docking interface in this paper.The kinematics and dynamics analysis were performed for the docking mechanism.The D-H matrix method was employed to analyze the kinematics and inverse kinematics problem of the docking mechanism.The relationship between the position and posture of the end effectors and the joint variables were built.The Lagrange equation was used to analyze the suffered torque of the manipulator joint.The relationship between joint torques and kinematic parameters which could be used to verify the capture of the docking mechanism was deduced.The simulation of the docking mechanism was carried out using ADAMS.The results of theory and simulation showed that this work was useful for the detailed design of non-cooperative docking mechanism.
出处
《上海航天》
2015年第1期5-11,67,共8页
Aerospace Shanghai
关键词
非合作目标卫星
对接机构
力学分析
仿真
Non-cooperative target satellite
Docking mechanism
Mechanical analysis
Simulation
