弱撞击式对接机构力传递及运动性能分析与优化

Analysis and Optimization of Force Transmissibility and Kinematic Performance of Low Impact Docking Mechanism

为提高弱撞击式对接机构的静态力传递特性及运动灵巧性,分析了弱撞击式对接机构的力输出特性,建立了综合对接机构运动学性能及力传递性能的优化模型,结合对接机构的运动灵巧空间对其基本结构布局参数进行了优化,并且分析得出弱撞击式对接机构单支杆驱动力指标。研究结果可为弱撞击式对接机构的设计与技术应用提供依据。

Low impact docking mechanism is the next generation space docking system. With a mechanical and electrical controlled buffer damping system,two spacecrafts can realize low impact docking using force active compliant technology. In this paper,the force output performance was analyzed on the basis of configuration scheme of low impact docking mechanism,and the optimization model was established combining kinematics and mechanical performance. Then,the structural parameters were optimized based on dexterity space of the docking mechanism,and the driving force indicator of the actuators was obtained. The analysis results gained in this paper could provide useful reference for the design and technology application of low impact docking mechanism.