空间重复锁紧与分离装置容差性能分析与验证

空间重复锁紧与分离装置的容差能力是合作目标能否被捕获的关键指标,一定的容差能力能够抵消机械臂末端定位误差带来的合作目标位姿误差。根据某种在轨服务平台对空间合作目标的捕获方式,提出并设计了一种具有一定容差能力,并且在空间机械臂协助下能够完成对合作目标重复锁紧与分离的装置。本文建立了合作目标任意一点与重复锁紧与分离装置坐标系之间的D-H矩阵,完成了对球头关键点运动轨迹数学模型的建立。利用关键点投影方法对装置的容差性能进行分析,验证了装置设计的合理性。通过ADAMS仿真和样机试验相结合的方式对装置的容差性能进行验证,结果表明所设计的装置能够捕获和锁紧处于极限位姿下的合作目标,验证了装置的容差能力。

Misalignment Tolerance Analysis and Verification of Space Reusable Lock and Separation Device

The capability of misalignment tolerance is an important requirement for the capture of the cooperative target, which can offset the position and orientation errors of the cooperative target that is caused by the space manipulators. A reusable lock and separation device with a certain misalignment tolerance is presented and designed according to the capture way of the cooperative target of on orbit service platform, which can lock and separate the cooperative target under the assistance of the space manipulator. The D-H matrix between the arbitrary point of the cooperative target and the coordinate system of reusable lock and separation device is established. In addition, the mathematical model of the trajectory of key points of the ball head is completed. In order to verify the feasibility of the device design, the misalignment tolerance is analyzed by the presented way of the projection of key points. The dynamics simulation of the misalignment tolerance performance is carried out through ADAMS software. Besides, the experiment of the prototype is carried out. The reusable lock and separation device of misalignment tolerance is validated through the simulation and experimental results.