航天员舱外活动计算机动态仿真

Dynamic Simulation of Extra Vehicular Activity

详细阐述了应用计算多刚体系统动力学仿真航天员舱外活动EVA(Extra Vehicular Activity)的步骤。介绍了多刚体统系动力学的中Kane方法的基本原理,分析了Kane方法应用在EVA仿真中的可行性,介绍了反向运动学和反向动力学的基本概念。选取STS-63飞行中的一次任务,在对其进行适当简化的基础上,建立了航天员7节段6自由度的人体模型,利用Kane方法和反向运动学和反向动力学对模型进行了求解。对结果进行了分析,并得出了结论。

The significance of computational simulation of the Extra Vehicular Activity (EVA) is demonstrated. General steps to simulate astronauts EVA using multi-body dynamics are introduced. Basic principle of Kanes method, inverse kinematics and inverse dynamics are described in detail. The feasibility of using Kanes method in simulating EVA is analyzed. A typical EVA, an actual large-mass-handling EVA performed on STS-63, is chosen as the example to simulate. Based on some simplifications, a human model with 7 segments and 6 degrees of freedom aiming at the EVA is established. Using the method presented, the model is solved and the results are analyzed.