新型柔索式杆束结构压紧释放装置
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摘要
针对空间机械臂、空间可展开天线等空间机构在收拢状态的杆束结构压紧与释放问题,提出一种基于柔性索捆绑压紧与热刀释放的新型压紧释放装置。建立了柔索式压紧释放装置锁紧状态的力学模型,分析了静态压紧和考虑惯性载荷情况下的绳索预紧力变化情况,得到了满足可靠压紧的绳索预紧力设计值。基于质量和刚度等效,设计了机械臂杆束结构力学等效件,并进行了正弦与随机振动力学试验。试验结果验证了所设计的柔索式杆束结构压紧释放装置的可行性,并可以推广到具有复杂包络的杆束结构压紧释放中。
To fix a space manipulator or a space deployable antenna, a kind of compaction and release device is proposed which applies a flexible cable to fasten the space manipulator and release it by the heat knife. At first the compaction and release model of the mechanical flexible cable is built, and the forces of the rope at both the static load and inertial dynamic load are analyzed, then the theoretical preload of the rope which satisfies the reliable compression is obtained. Based on the mass and stiffness equivalence, the mechanical equivalent of the manipulator structure is designed, and the sinusoidal and random vibration dynamic tests are carried out. The experimental results verify the feasibility of the compaction and release device, which can be extended to the compaction and release device with a complex envelope.
To fix a space manipulator or a space deployable antenna, a kind of compaction and release device is proposed which applies a flexible cable to fasten the space manipulator and release it by the heat knife. At first the compaction and release model of the mechanical flexible cable is built, and the forces of the rope at both the static load and inertial dynamic load are analyzed, then the theoretical preload of the rope which satisfies the reliable compression is obtained. Based on the mass and stiffness equivalence, the mechanical equivalent of the manipulator structure is designed, and the sinusoidal and random vibration dynamic tests are carried out. The experimental results verify the feasibility of the compaction and release device, which can be extended to the compaction and release device with a complex envelope.
引文
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[9] 张雪原.低冲击分离装置工作过程的数学建模与性能研究[D].哈尔滨:哈尔滨工业大学,2009.[Zhang Xue-yuan.Modeling on operation process of low-shock separation device and its performance research[D].Harbin:Harbin Institute of Technology,2009.]
[10] 袁家军.卫星结构设计与分析[M].北京:宇航出版社,2004.
[11] Damaren C J.An adaptive controller for two cooperating flexible manipulators[J].International Journal of Robotic System,2003,20(1):15-21.
[12] 谭雪峰,阎绍泽.包带式星箭连接结构的动力学模拟及故障分析[J].清华大学学报,2010,50(8):1205-1209.[Tan Xue-feng,Yan Shao-ze.Dynamic simulations and failure analysis of a clamp band system for spacecraft[J].Journal of Tsinghua University (Sci&Tech),2010,50(8):1205-1209.]
[13] Dowen D,Christiansen S,Peffer A.Development of a reusable,low-shock clamp band separation system for small spacecraft release applications[C].The 15th Annual/USU Conference on Small Satellite,2001:259-264.
[14] Deng Z Q,Wu B H,Wu X.Design and analysis of a new style lock-unlock mechanism for space borne appendages[C].Proceedings of the International conference on Advanced Design and manufacture.2006:117-120.
[2] Longman R W.The kinetics and workspace of a satellite-mounted robot[J].The Journal of the Astronautical Sciences,1990,38(4):423-440.
[3] 马兴瑞,于登云,孙京,等.空间飞行器展开与驱动机构研究进展[J].宇航学报,2006,27(6):1123-1131.[Ma Xing-rui,Yu Deng-yun,Sun Jing,et al.The Researching evolvement of spacecraft deployment and driving mechanism[J].Journal of Astronautics,2006,27(6):1123-1131.]
[4] Poghosyan A.CubeSat evolution:analyzing cubeSat capabilities for conducting science missions[D].Alessandro Golkar Skolkovo Institute of Science and Technology,3 Nobel Street,Moscow 143026,Russia.
[5] Beavers F L,Munshi N A,Lake M S,et al.Design and testing of an elastic memory composite deployment hinge for spacecraft[C].43rd AIAA/ASME/ASCE/AHS/ASC Structures,Struct-ural Dynamics and Materials Conf.Denver,CO,April,2002.
[6] 荣吉利,白美,刘志全.加严条件下火工机构可靠性评估方法[J].北京理工大学学报,2004,24(2):117-120.[Rong Ji-li,Bai Mei,Liu Zhi-quan.Reliability assessment of pyrotechnical devices under rigorous conditions[J].Transactions of Beijing Institute of Technology,2004,24(2):117-120.]
[7] Bement L J,Multhaup H A.Determining functional reliability of pyrotechnic mechanical devices[J].AIAA Journal,1999,37(3):357-363.
[8] 郭维长.论火工装置的抽样试验与可靠性评估问题[J].中国空间科学技术,1999,19(3):51-57.[Guo Wei-chang.Study on sampling test and reliability evaluation of pyrotechnical devices[J].Chinese Space Science and Technology,1999,19(3):51-57.]
[9] 张雪原.低冲击分离装置工作过程的数学建模与性能研究[D].哈尔滨:哈尔滨工业大学,2009.[Zhang Xue-yuan.Modeling on operation process of low-shock separation device and its performance research[D].Harbin:Harbin Institute of Technology,2009.]
[10] 袁家军.卫星结构设计与分析[M].北京:宇航出版社,2004.
[11] Damaren C J.An adaptive controller for two cooperating flexible manipulators[J].International Journal of Robotic System,2003,20(1):15-21.
[12] 谭雪峰,阎绍泽.包带式星箭连接结构的动力学模拟及故障分析[J].清华大学学报,2010,50(8):1205-1209.[Tan Xue-feng,Yan Shao-ze.Dynamic simulations and failure analysis of a clamp band system for spacecraft[J].Journal of Tsinghua University (Sci&Tech),2010,50(8):1205-1209.]
[13] Dowen D,Christiansen S,Peffer A.Development of a reusable,low-shock clamp band separation system for small spacecraft release applications[C].The 15th Annual/USU Conference on Small Satellite,2001:259-264.
[14] Deng Z Q,Wu B H,Wu X.Design and analysis of a new style lock-unlock mechanism for space borne appendages[C].Proceedings of the International conference on Advanced Design and manufacture.2006:117-120.