可调节太阳能电池板机构分析及运动仿真

Analysis and Kinematic Simulation of Adjustable Solar Panel Mechanism

根据探月工程航天器能源供应的要求,提出了一种具有3自由度的新型可调整航空航天器太阳能电池板的机构,采用2UU-UPU并联机构最为机构原型,对该机构的约束方程和位姿关系进行分析。首先,利用螺旋理论求解出并联机器人的自由度,并通过修正的Kutzbach-Grübler公式进行验证,推出了位置反解方程。在此基础上利用Adams软件对该机构进行了运动学仿真,将仿真结果与理论数值计算结果进行对比,从而验证了可调太阳能电池板机构数学建模的正确性与三维实体模型设计的合理性。

According to the requirements of energy supply of lunar exploration engineering spacecraft,a novel adjustable solar panel with three degrees of freedom is proposed. The 2 UU-UPU parallel mechanism is adopted as the prototype of adjustable solar panel mechanism. The constraint equation and positional relationship of the adjustable solar panel mechanism are analyzed,the degree of freedom of parallel robot is solved by the theory of spiral,and the positional anti-solution equation is introduced by the modified Kutzbach-Grübler formula. On this basis,the system is simulated by using Adams software,and the simulation results are compared with theoretical numerical calculations to verify the correctness of mathematical modeling of the adjustable solar panel mechanical and the rationality of the three-dimensional solid model.