可折叠复合材料空间捕获机构的结构设计与运动学分析

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Advances in Mechanical Engineering Pub Date : 2023-08-01 DOI:10.1177/16878132231192299

Yang Qi, Lu Zhang

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引用次数: 0

摘要

为了满足空间碎片清理技术的高柔性、高刚度和大工作范围的要求，本文基于有限螺杆理论，提出了一种可折叠复合材料空间捕获机构。利用螺旋理论对该机构的自由度进行了分析，得到了其自由度。采用闭环矢量法和DH法对该机构进行运动学分析，推导出该机构的位置解。通过微分计算得到了速度和加速度解的解析表达式。通过算例分析，在仿真环境中建立了该机构的运动学模型，并对该机构的运动轨迹进行了仿真实验。通过对运动轨迹的对比分析，验证了理论分析解和方法的正确性，验证了空间捕获机构利用可折叠特性形成大的工作空间来完成对目标的捕获。

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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Configuration design and kinematics analysis of foldable composite space capture mechanism

To meet the requirements of high flexibility, high stiffness, and large working range of space debris cleaning technology, a foldable composite space capture mechanism is proposed based on the finite screw theory in this paper. The degree of freedom of the mechanism is analyzed by using the screw theory and its degree of freedom is obtained. The closed-loop vector method and DH method are used to analyze the kinematics of the mechanism, and the position solution of the mechanism is derived. The analytical expressions of velocity and acceleration solutions are obtained by differential calculation. According to the analysis of numerical example, the kinematic model of the mechanism is built in the simulation environment, and the simulation experiment is carried out for the motion trajectory of the mechanism. The correctness of theoretical analysis solution and method is proved by contrasting and analyzing motion trajectory, and it is verified that the space capture mechanism uses the foldable property to form large workspace to complete the capture of the target.

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来源期刊

Advances in Mechanical Engineering 工程技术-机械工程

CiteScore

3.60

自引率

4.80%

发文量

353

审稿时长

6-12 weeks

期刊介绍： Advances in Mechanical Engineering (AIME) is a JCR Ranked, peer-reviewed, open access journal which publishes a wide range of original research and review articles. The journal Editorial Board welcomes manuscripts in both fundamental and applied research areas, and encourages submissions which contribute novel and innovative insights to the field of mechanical engineering