摘要
为满足航天飞行器壳体套装过程中位姿调整机构刚度大、精度高的要求,对传统的支链结构进行有针对性的改进,设计了一种支链为闭环结构的新型5-U(RRP)S/(8U)PU并联机构,并进行了分析研究。应用螺旋理论计算机构的自由度;建立封闭矢量方程,进行运动学正反解;应用螺旋理论求解机构的全雅可比矩阵;利用杆长约束条件绘制机构的定姿态工作空间;通过求解静刚度矩阵分析机构的刚度随位姿的变化情况;利用软件进行仿真,并与一般机构进行对比。通过分析,验证了该机构的可行性和实际应用价值,为实现航天飞行器壳体套装的自动化奠定基础。
In order to meet the requirements of high stiffness and accuracy of the position and posture adjusting mechanism in the assembly process of spacecraft shell,a novel 5-U(RRP)S/(8U)PU parallel mechanism with closed-loop limbs,which are improved from conventional limb structure,is proposed and analyzed.The degree of freedom of the mechanism is calculated by screw theory. The positional positive and negative solutions are figured out through establishing the seal vector constraints equation. The complete Jacobian matrix is calculated by screw theory. The fixed posture workspace is drawn by the restrained link length. The changes of mechanism stiffness with the position and posture are analyzed by solving the static stiffness matrix. The software is used to simulate and compare with the general mechanism. Through the above analysis,the feasibility and practical application value are verified,which lays the foundation for the automatic assembly process of spacecraft shell.
作者
房海蓉
王立
张海强
杨会
FANG Hairong;WANG Li;ZHANG Haiqiang;YANG Hui(Robotics Research Center,School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China)
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2019年第3期454-463,共10页
Journal of Beijing University of Aeronautics and Astronautics
基金
中央高校基本科研业务费专项资金(2018JBZ007)~~
关键词
并联机构
闭环结构
大刚度
高精度
运动学分析
parallel mechanism
closed-loop structure
high stiffness
high accuracy
kinematics analysis