在轨服务中的仿生抗冲击结构研究

针对在轨服务航天器末端执行器在抓捕目标时由于速度不匹配而产生的振动问题，本文受自然界中高速奔跑的袋鼠腿部结构启发，将嵌套仿生X形结构安装在服务航天器机械臂和抓捕机构之间，来抑制由碰撞所产生的抓捕后振动。通过对此系统在受到外冲击力下进行建模分析，并与传统的弹簧质量阻尼器和单层仿生X形结构的隔振性能进行对比，仿真结果表明,此嵌套仿生X形结构隔振系统具有更好的振动隔离效果，能够更加有效地抑制航天器抓捕后振动。

Research on Bio Inspired Anti Impact Structure in On Orbit Servicing

When an on-orbit servicing spacecraft is capturing a target, there exist some vibrations caused by the mismatch of velocity between them. Inspired by the smooth motion of a running kangaroo, the nested bio-inspired X-shape structure is proposed in this paper and installed between the robotic arm and the capture mechanism to suppress the post-capture vibrations induced by the collision. The dynamical model of this system is established and analyzed under the impulsive external force. Compared with the traditional spring-mass-damper and single X-shape structure system, it possesses the better vibration isolation performance and suppresses the post-capture vibrations more quickly and efficiently.