失重环境欠驱动机构的混沌抑制方法

Chaotic Controlfor Under-actuated Mechanisms in Weightless Environment

针对太空中的失重情况,以含有弹簧、扭簧的欠驱动五杆机构为研究对象,进行动力学建模与仿真;仿真证明了可以通过改变储能元件安装位置和设计参数对失重环境下的欠驱动五杆机构的混沌运动进行抑制;弹簧的安装位置,弹簧卷簧的刚度等对混沌运动的抑制效果有影响。

This paper mainly focuses on the modeling, dynamic simulation and the passive control of one typical weightless under-actuated mechanism. Simulation result shows that, for such one type of five bars under-actuated mechanism in space, by adding energy storage elements and changing their designed parameters, chaos motion of the mechanism can be controlled and even eliminated. Such designed elements can be the assembling location, the stiffness of the spring and the torsion spring.