测试质量锁紧机构的力封闭分析及夹持力优化

Force-closure analysis and gripping force optimization of test mass caging mechanism sub-system

测试质量锁紧机构是引力波探测器的重要部件之一,但是基于力封闭理论分析锁紧机构鲜有报道,本文从力封闭的角度对锁紧机构进行分析,为锁紧机构的设计及后续的研究提供理论支持和参考。根据力螺旋理论,建立了顶杆与测试质量的抓持矩阵,采用力封闭原理分析稳定夹持时接触力与测试质量所受外力的关系;通过对夹持质量指标的分析,得到最优的接触点位置,验证锁紧机构的可靠性;将夹持力优化问题转化为求解非线性规划问题,采用MATLAB软件中的fmincon函数对接触力进行优化,得到最优的夹持力,并通过ANSYS Workbench软件进行有限元分析,得到测试质量最大变形量为0.4μm,满足设计要求。

The test mass caging mechanism sub-system(CMSS)is one of the important parts of the gravitational wave detector,but there are few reports on the analysis of the caging mechanism sub-system based on force-closure theory.This article analyzes the caging mechanism sub-system from the perspective of force closure,so as to provide theoretical support and reference for the design of caging mechanism sub-system and subsequent research.Based on the force wrench theory,the gripping matrix of the fingers and the test mass is established,and the relationship between the contact force and the external force of the test mass is analyzed by the force-closure principle.Through the analysis of the gripping quality indicators,the optimal contact point position is obtained.The gripping force optimization problem is transformed into a nonlinear programming problem,and the fmincon function in MATLAB software is used to optimize the contact force.The optimal gripping force is obtained,and the finite element analysis is carried out by ANSYS Workbench software.The maximum deformation of the test mass is 0.4μm,which meets the design requirements.