载人航天器仿人型机械臂系统发射过程抑振特性试验研究

“天宫二号”仿人型机械臂系统内部由大量精密电子元器件及高精度传动组件构成。为抑制发射上行过程中复杂振动、冲击环境对机械臂工作性能的影响，设计了一种适用于载人航天器仿人型机械臂的减振软包上行方案，并对这种被动抑振方案的有效性进行了力学环境试验验证。试验结果表明，减振软包可有效抑制发射段力学载荷对仿人型机械臂系统的影响，机械臂操作精度指标满足要求。“天宫二号”机械臂系统在轨飞行任务的圆满完成进一步验证了减振软包对于降低机械臂承受发射段力学载荷的有效性。

Experimental study of launching vibration suppression for humanoid manipulator used in manned spacecraft

The humanoid manipulator system is a kind of precise mechanical and electrical equipment, and it is composed of a large number of precise electronic components and high-precision transmission links. During the launching process, it is put in a complex vibration and shock environment. In order to fight against the influence of the excess mechanical load on the performance of the Tiangong-2 manipulator in the launching stage, a kind of soft package suitable for the manned spacecraft is designed, and the related passive vibration suppression method is validated by mechanical environmental tests. It is shown that the soft pack can effectively restrain the influence of the mechanical load on the humanoid manipulator system, to satisfy the requirements of the accuracy performances in ground tests. The successful implementation of the inflight mission Tiangong-2 manipulator system further verifies the effectiveness of the soft package in the mechanical vibration suppression during the launching process.