空间机械手分布式锁定系统的协同锁定策略研究

IF 1.8 4区工程技术 Q3 ENGINEERING, MECHANICAL

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science Pub Date : 2024-09-14 DOI:10.1177/09544062241277315

Gang Wang, Jiankang Guo, Yimeng Yao, Qihui Zhang, Fei Yang, Honghao Yue, Kun Wang

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引用次数: 0

摘要

本文分析了空间机械手锁定系统与空间机械手之间的动态相互作用，提出了空间机械手分布式锁定系统的偏差容限能力分析方法。根据锁紧机构的结构和布局特点，对锁紧过程中机械手与锁紧系统之间的碰撞进行了动力学分析，得出了锁紧机构被动端锁紧框架逃逸导致锁紧失效的因素。针对锁定框架脱落的因素，提高锁定系统的偏差容限，对锁定系统的主动端进行锁定动作匹配，为协同锁定策略的设计奠定了基础。建立了锁紧系统的协同锁紧策略模型，以匹配锁紧阶段钩子的锁紧速度。利用提出的错位公差能力分析方法结合仿真软件对传统锁定策略和协同锁定策略进行仿真。通过比较仿真结果，验证了协同锁定策略的大偏差容限能力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Research on collaborative locking strategy for distributed locking system of space manipulator

In this paper, the dynamic interaction between the locking system and the space manipulator is analyzed, and a misalignment tolerance capability analysis method for the distributed locking system of the space manipulator is proposed. Based on the structure and layout characteristics of the locking mechanism, the collision dynamics analysis between the manipulator and the locking system during the locking process is carried out, and the factors for the locking failure caused by the escape of the locking frame on the passive end of the locking mechanism are obtained. Aiming at the factors of escape of the locking frame and improving the misalignment tolerance of the locking system, the locking action matching of the active end of the locking system is carried out, which lays a foundation for the design of a collaborative locking strategy. The collaborative locking strategy model of the locking system was established to match the locking speed of the hook in the locking stage. Using the proposed misalignment tolerance capability analysis method combined with simulation software to simulate the conventional locking strategy and the collaborative locking strategy. By comparing the simulation results, the large misalignment tolerance capability of the collaborative locking strategy is verified.

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 工程技术-工程：机械

CiteScore

3.80

自引率

10.00%

发文量

625

审稿时长

4.3 months

期刊介绍： The Journal of Mechanical Engineering Science advances the understanding of both the fundamentals of engineering science and its application to the solution of challenges and problems in engineering.