摘要
"天宫二号"空间实验室开展了首次人机协同在轨维修技术试验,机械臂操作终端抓取漂浮小球试验为在轨试验任务之一。为研究漂浮小球与机械臂操作终端运动特性之间的匹配性,文章建立了在轨微重力环境下小球运动的物理模型与数学模型,采用动网格方法对不同小球的运动特性进行数值模拟,得到小球的运动规律,由此确定小球的设计参数范围,作为机械臂操作终端系统方案设计的依据。最终,数值模拟结果与"天宫二号"空间实验室在轨试验数据的对比初步验证了该计算结果的正确性。
The first man-machine cooperative test for in-orbit maintenance is conducted in China’s Tiangong-2 space laboratory.One task of the mission is to grab a floating ball by the space manipulator terminal.In order to investigate the characteristics of the relative movement between the space manipulator terminal and the floating ball,a physical and a mathematical model are established,respectively.Numerical simulations by the dynamic mesh method are carried out to study the movement of the floating ball under different conditions in the micro-gravity environment.The parameters for the floating balls are determined,as a basis for the systematic design of the space manipulator terminal.Finally,the simulation result is compared with the in-orbit test data,which verifies the method in this paper.
作者
张峤
刘冬雨
罗超
魏传锋
ZHANG Qiao;LIU Dongyu;LUO Chao;WEI Chuanfeng(Institute of Manned Space System Engineering,China Academy of Space Technology,Beijing 100094,China)
出处
《航天器环境工程》
2018年第4期323-329,共7页
Spacecraft Environment Engineering
基金
国家重大科技专项工程
关键词
密封舱
在轨维修
机械臂操作终端
数值模拟
动网格
sealed cabin
in-orbit maintenance
space manipulating terminal
numerical simulation
dynamic meshes
