载人航天器柔性机械臂的动力学建模方法

空间机械臂在载人航天活动中有着迫切的应用需求。航天器尺寸、质量等因素的限制使得空间机械臂具有大柔性的特点。文章结合空间机械臂应用环境的特殊性,论述了空间柔性机械臂多体动力学和关节的动力学建模方法,分析比较了不同建模方法的特点。为了满足未来空间机械臂在航天器工程应用的要求,文章指出,空间柔性机械臂宜采用混合坐标法描述臂杆刚性运动与柔性变形的耦合;开展关节精细动力学研究,宜将重点放在齿轮传动系统的低速级上。

Review of Flexible Manipulator Dynamic Modeling of Manned Spacecraft

There is an urgent requirement of the space manipulator in future manned spaceflight. Due to the limits of size and weight of spacecraft, flexibility exists inevitably in space manipula- tors. A review of the development of the multibody dynamic modeling methods and joint dynamic modeling methods is carried out. Different methods to establish dynamic models of space manipu- lators are compared. To meet the spacecraft engineering application requirements, the paper points out that the couplings between flexible distortion and manipulator kinematics should be descibed with hybrid coordinate method. Detailed dynamic model of gear transmission system should focus on the low-speed gear train.