基于Lagrange方法的航天员舱外活动计算机仿真

在比较各种地面微重力模拟设备的优缺点的基础上，阐述了计算机动态仿真航天员舱外活动(EVA，Extra Vehicular Activity)的必要性。简要的概述了应用计算多刚体系统动力学对EVA进行仿真的步骤。描述了拉格朗日方程在仿真过程中的应用，建立了用于仿真的动力学方程。选取典型的EVA，得出了描述该EVA系统运动的拉格朗日动力学方程。利用反向运动学和反向动力学对该EVA进行了仿真计算，并对结果进行了分析。

Based on lagrangian method computational simulation of extra vehicular activity

Based on introduction of several ground simulators to the weightless environment,it was depicted that the computational dynamic simulation of the extravehicular activity (EVA) is necessary.The steps to simulate EVA utilizing multi body dynamics were introduced.The application of Lagrange formulation in the simulation was described.The dynamics equations for simulating the astronaut and EVA were established.A typical EVA,an actual large mass handling EVA performed on STS 63,was chosen as the example to simulate.The dynamics equations of astronaut arm were developed on the basis of Lagrange formulation.In terms of the inverse kinematics and inverse dynamics,equations were solved and the results were analyzed.