对接机构隔框锁的接触碰撞动力学研究及仿真

为了给空间对接飞行器提供地面试验的参考依据。验证隔框锁结构设计的正确性和对接过程的可行性。本文针对隔框锁实例，在其运动平面内以均匀B样条曲线抉合锁钩外轮廓。并建立起接触碰撞动力学微分方程和仿真模型，分析了刚体碰撞的过程，刚性接触的单边约束条件和考虑变形接触的法向计算方法，文章还提出了基于几何引擎的接触点的实时判别算法，并给出了对接完成锁钩的接触力，动能及动量的仿真曲线图。计算过程稳定，所得结果合理，具有重要的参考价值。

Dynamic simulation and research of structure locks based on contact-impact theory in space docking system

In order to provide a reference for docking experiments of aircraft on the ground,and to validate the design and docking movement,an impact simulation should be adopted.In this paper,the uniform B splines were utilized for modeling the contour of structure locks on planar moving.With this model,the colliding process of rigid bodies,and the unilateral constraints of contact were analyzed and the numerical methods for solving normal force were abtained.Moreover,a real time optimization algorithm was presented for deciding contact points based on geometric engine.By means of impact method,simulation results are illustrated including contact forces,kinetic energy and momentum of slave lock during docking.The dynamic modeling with contact impact is implemented by simulation software ADAMS,and the stable numerical integration results and reasonable data are obtained.