空间圈套式绳索捕获动力学建模及接触碰撞分析
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摘要
空间圈套式绳索捕获机构由于具有大容差、软接触的特性,已经逐渐被应用于太空中大型航天器的捕获任务中。柔性钢丝绳作为该捕获机构的执行元件,在捕获过程中的动力学特性对捕获任务有直接的影响。提出了一种基于拉伸/扭转弹簧-质点模型的柔性钢丝绳动力学建模方法,并在此基础上通过引入虚拟弹簧的概念,实现了对空间圈套式绳索捕获过程的模拟。建立了以柔性钢丝绳离散段长度、偏转角及俯仰角为变量的柔性钢丝绳动力学方程;在此基础上,分析了捕获机构的几何约束并计算了柔性钢丝绳的初始状态;通过曲面函数拟合的方式确定了目标载荷与柔性钢丝绳之间的接触刚度系数,并进一步的利用Hertz-阻尼模型完成了对动态接触力的计算。仿真结果表明该方法可以模拟空间圈套式绳索捕获过程中柔性钢丝绳的运动状态并对接触碰撞力进行评估。
Due to the advantages of large tolerance and soft contact, a space snare capture mechanism has been applied to capture large spacecrafts. As an executive component, the dynamics characteristics of the flexible cable will have directly influence on capture tasks. A modeling method for flexible cable was proposed based on the tension/torsion mass-spring model, and the concept of virtual spring was introduced to simulate the snare capture process. A dynamics equation was established with three basic variables, namely the length, deflection angle and pitch angle of discrete segments. The geometric constraints of the capture mechanism and the initial state of the flexible cable were calculated. The coefficient of contact stiffness was determined by surface function fitting, and then, the dynamic contact force was calculated by the Hertz damping model. The results of simulations show that the method proposed can be used to simulate the motion of flexible cable during snare capture, and can also be adopted to evaluate the contact force.
Due to the advantages of large tolerance and soft contact, a space snare capture mechanism has been applied to capture large spacecrafts. As an executive component, the dynamics characteristics of the flexible cable will have directly influence on capture tasks. A modeling method for flexible cable was proposed based on the tension/torsion mass-spring model, and the concept of virtual spring was introduced to simulate the snare capture process. A dynamics equation was established with three basic variables, namely the length, deflection angle and pitch angle of discrete segments. The geometric constraints of the capture mechanism and the initial state of the flexible cable were calculated. The coefficient of contact stiffness was determined by surface function fitting, and then, the dynamic contact force was calculated by the Hertz damping model. The results of simulations show that the method proposed can be used to simulate the motion of flexible cable during snare capture, and can also be adopted to evaluate the contact force.
引文
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[ 3 ] 邓宗全,李龙,李兵,等.空间抓取装置性能综合分析及评价[J].机械科学与技术,2012,29(3):1-6.DENG Zongquan,LI Long,LI Bing,et al.Compre-hensive analysis and evaluation on performance of space grappling device[J].Journal of Machine Design,2012,29(3):1-6.
[ 4 ] MCGREGOR R,OSHINOWO L.Flight 6A:deployment and checkout of the space station remote manipulator system (SSRMS)[C]//Proceedings of the 6th International Symposium on Artificial Intelligence,Robotics and Automation in Space.Quebec:Canadian Space Agency,2001.
[ 5 ] LIU Hong,TAN Yisong,LIU Yiwei,et al.Development of Chinese large-scale space end-effector[J].Journal of Central South University of Technology,2011,18(3):600-609.
[ 6 ] 谭益松,刘伊威,刘宏,等.空间大型末端执行器柔性钢丝绳的建模与捕获动力学[J].机器人,2011,33(2):156-160.TAN Yisong,LIU Yiwei,LIU Hong,et al.Modeling and capture dynamics of flexible cables used in large-scale space end-effector[J].Robot,2011,33(2):156-160.
[ 7 ] 李龙,邓宗全,李兵,等.圈套式空间抓取装置抓取策略及动力学研究[J].机械设计与制造,2013(1):104-106.LI Long,DENG Zongquan,LI Bing,et al.Research on grapple strategy and dynamic model of snare space grapple device[J].Machinery Design and Manufacture,2013(1):104-106.
[ 8 ] 潘冬,张越,魏承,等.空间大型末端执行器绳索捕获动力学建模与仿真[J].振动与冲击,2015,34(1):74-79.PAN Dong,ZHANG Yue,WEI Cheng,et al.Dynamics modeling and simulation on rope capturing by space large end effector[J].Journal of Vibration& Shock,2015,34(1):74-79.
[ 9 ] 荣吉利,辛鹏飞,诸葛迅,等.空间大型末端执行器柔性绳索捕获动力学研究[J].兵工学报,2016,37(9):1730-1737.RONG Jili,XIN Pengfei,ZHU Gexun,et al.Capturing dynamics of flexible ropes for space large-scale end effector[J].Acta Armamentarii,2016,37(9):1730-1737.
[10] ABIKO S,UYAMA N,IKUTA T,et al.Contact dynamic simulation for capture operation by snare wire type of end effector[C]// Proceedings of the 11th International Symposium on Artificial Intelligence,Robotics and Automation in Space.Turin:European Space Agency,2012.
[11] YOSHINITSU R,YUGUCHI Y,KOBAYASHI A,et al.Dynamic simulator for HTV capture with space station remote manipulator system[C]// Proceedings of the 12th International Symposium on Artificial Intelligence,Robotics and Automation in Space.Montreal:Canadian Space Agency,2014.
[12] TAKAHASHI I.Control of contact dynamics between flexible wire and rigid body for orbital target capture[D].Sendai:Tohoku University,2015.