大型空间机械臂关节动力学建模与分析研究  

Research on Dynamic Modeling and Analysis of Joint in Large Space Manipulator

作　　者：潘博[1] 于登云[2] 孙京[1] 

机构地区：[1]中国空间技术研究院,北京100094 [2]中国航天科技集团公司,北京100048

出　　处：《宇航学报》2010年第11期2448-2455,共8页Journal of Astronautics

摘　　要：关节是空间机械臂的核心部件,是保证空间机械臂安全、平稳运行的关键。为全面反映大型空间机械臂关节的动力学特性并从细节之处优化关节设计,利用集中参数法建立了综合考虑轮齿柔性、啮合阻尼、齿侧间隙、啮合误差等非线性因素的细化关节动力学模型。模型中采用一种基于tanh的连续函数对传统分段线性间隙函数进行近似,从而降低了模型的求解难度。研究了各级齿轮精度、关节转速和负载对关节动力学特性的影响。仿真结果表明,三级齿轮的精度变化会影响关节转速波动的振幅并分别影响高、中、低频特性;转速的增加将提高振动频率和幅值;力矩负载的增大会使关节转速波动幅值显著增大,且在满载时,所有的高阶频率都得到明显激励;惯性负载的增大会减小转速波动,并将能量集中在中频上。The joint plays a very important role in the safe and steady operation of space manipulators as one of critical components.To fully reflect dynamics of the joint in large space manipulator and to optimize design of joint in detail,a detailed dynamics model is established by using the lumped parameter method in comprehensive consideration of flexibility of the gear tooth,mesh damping,clearance between gear teeth,and mesh error.A hyperbolic tangent function-based,continuous function is propounded to well approximate the traditional piecewise linear function of the clearance,thus effectively reducing difficulty in solving the model.Then influences of the accuracy of all gear stages,the rotational speed of the joint and the load on dynamic characteristics of joints are studied.Simulation results demonstrate that the accuracy of all three gear stages affects the vibration amplitude of the joint speed and affects high,medium and low frequency characteristics respectively;increasing rotational speed will increase both frequency and amplitude of the torsional vibration;increasing torque load will significantly increase the vibration amplitude of joint speed,and all the high frequencies are excited in full load;increasing inertial load will reduce the vibration amplitude of the joint speed,and the vibration energy concentrates on the medium frequency.

关 键 词：空间机械臂 关节 动力学建模 间隙 啮合误差 

分 类 号：V423.7[航空宇航科学与技术—飞行器设计] TP241.3[自动化与计算机技术—检测技术与自动化装置]