| 新型柔索式杆束结构压紧释放装置 |
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| 引用本文： | 郭一竹,郭宏伟,李潇,王浩威,刘冬.新型柔索式杆束结构压紧释放装置[J].宇航学报,2019,40(5):527-534. |
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| 作者姓名： | 郭一竹 郭宏伟 李潇 王浩威 刘冬 |
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| 作者单位： | 1. 北京空间飞行器总体设计部，北京 100094；2. 哈尔滨工业大学机器人与系统国家重点实验室，哈尔滨 150001 |
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| 基金项目： | 中国空间技术研究院总体部自主研发项目 |
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| 摘 要： | 针对空间机械臂、空间可展开天线等空间机构在收拢状态的杆束结构压紧与释放问题，提出一种基于柔性索捆绑压紧与热刀释放的新型压紧释放装置。建立了柔索式压紧释放装置锁紧状态的力学模型，分析了静态压紧和考虑惯性载荷情况下的绳索预紧力变化情况，得到了满足可靠压紧的绳索预紧力设计值。基于质量和刚度等效，设计了机械臂杆束结构力学等效件，并进行了正弦与随机振动力学试验。试验结果验证了所设计的柔索式杆束结构压紧释放装置的可行性，并可以推广到具有复杂包络的杆束结构压紧释放中。
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| 关 键 词： | 杆束结构 柔索 压紧释放装置 力学等效 |
| 收稿时间： | 2018-10-17 |
A New Type of Multi Bar Compaction and Release Device Using Flexible Cable |
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| GUO Yi zhu,GUO Hong wei,LI Xiao,WANG Hao wei,LIU Dong.A New Type of Multi Bar Compaction and Release Device Using Flexible Cable[J].Journal of Astronautics,2019,40(5):527-534. |
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| Authors: | GUO Yi zhu GUO Hong wei LI Xiao WANG Hao wei LIU Dong |
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| Affiliation: | 1. Beijing Institute of Spacecraft System Engineering, Beijing 100094, China; 2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | To fix a space manipulator or a space deployable antenna, a kind of compaction and release device is proposed which applies a flexible cable to fasten the space manipulator and release it by the heat knife. At first the compaction and release model of the mechanical flexible cable is built, and the forces of the rope at both the static load and inertial dynamic load are analyzed, then the theoretical preload of the rope which satisfies the reliable compression is obtained. Based on the mass and stiffness equivalence, the mechanical equivalent of the manipulator structure is designed, and the sinusoidal and random vibration dynamic tests are carried out. The experimental results verify the feasibility of the compaction and release device, which can be extended to the compaction and release device with a complex envelope. |
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| Keywords: | Multi-bar structure Flexible cable Compaction and release device Mechanical equivalence |
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