航空学报 > 2023, Vol. 44 Issue (13): 428024-428024   doi: 10.7527/S1000-6893.2022.28024

空间非合作目标全向柔顺对接关节设计与仿真

褚明, 蔺绍奇(), 徐升, 常睿   

  1. 北京邮电大学 自动化学院,北京 100876
  • 收稿日期:2022-09-09 修回日期:2022-10-18 接受日期:2022-11-26 出版日期:2023-01-16 发布日期:2023-01-12
  • 通讯作者: 蔺绍奇 E-mail:l_sq@bupt.edu.cn
  • 基金资助:
    国家自然科学基金(51875046)

Design and simulation of omnidirectional compliant docking joint for space non-cooperative target

Ming CHU, Shaoqi LIN(), Sheng XU, Rui CHANG   

  1. School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China
  • Received:2022-09-09 Revised:2022-10-18 Accepted:2022-11-26 Online:2023-01-16 Published:2023-01-12
  • Contact: Shaoqi LIN E-mail:l_sq@bupt.edu.cn
  • Supported by:
    National Natural Science Foundation of China(51875046)

摘要:

针对空间非合作目标刚性对接时接触力过大和难以补偿不同轴误差的问题,提出一种3R-1T型全向柔顺对接关节的设计方法,既能被动柔顺适应偏距或偏角误差,又能对空间六维接触力进行缓冲卸载,同时能利用锁紧机构实现刚柔双模切换。利用含耗散函数的拉格朗日方程建立了搭载柔顺对接关节的全向柔顺复合航天器动力学模型,通过接触力仿真实验证明了柔顺对接关节的全向柔顺缓冲与阻尼吸振机制。在刚性和柔性两种非合作目标对接的模拟实验中,进行了24种典型偏距和偏角复合工况的对比研究,表明全向柔顺对接的对接成功率是刚性对接的近5倍,且接触力峰值降幅最高可达89.5%,验证了3R-1T型全向柔顺对接关节在空间对接中应用的合理性和有效性。

关键词: 非合作目标, 3R-1T, 全向柔顺, 缓冲卸载, 刚柔双模

Abstract:

Aiming at the problems of excessive contact force and difficulty in compensating different axis errors during rigid docking of non-cooperative targets in space, a 3R-1T omnidirectional compliant docking joint is developed, which can not only generate passive flexible motion to compensate errors of distance or angle, but also buffer and unload six-dimensional contact force in space. Moreover, it can realize rigid-flexible dual-mode conversion operation by means of locking mechanism. The flexible dynamic model of spacecraft complex with compliant docking joint is established by using Lagrange’s equation containing dissipation function. A contact force simulation model is established, which verifies the mechanism of omnidirectional compliance and damping stabilization. Furthermore, two non-cooperative target docking models, rigid and flexible, are built. The simulation experiments under 24 typical combined errors of distance and angle shows that the success rate of compliant docking is nearly 5 times that of rigid docking, and the peak value of contact force decreases up to 89.5%. Therefore, the rationality and effectiveness of 3R-1T omnidirectional compliant docking joint applied to space compliant docking task are verified.

Key words: non-cooperative target, 3R-1T, omnidirectional compliance, buffering and unloading, dual-mode of soft and rigid

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