一种新型软着陆展开锁定机构设计与展开运动学分析  

Design and Deploying Kinematic Analysis of a New Deployable and Lockable Soft-Landing Mechanism

作　　者：林轻[1] 聂宏[2] 陈金宝[3] 万峻麟[2] 

机构地区：[1]南京航空航天大学能源与动力工程学院,南京210016 [2]南京航空航天大学航空宇航学院,南京210016 [3]南京航空航天大学航天学院,南京210016

出　　处：《宇航学报》2011年第5期975-981,共7页Journal of Astronautics

基　　金：国家863高技术研究发展计划资助项目(2009AA04Z405);上海空间机构重点实验室资助项目(06DZ22105);南航青年创业基金资助项目(2010210)

摘　　要：针对传统探测器软着陆展开锁定机构复杂、可靠性不高的缺点,提出一种新型软着陆展开锁定机构。该机构压紧、展开和锁定装置共用一套机构,具有展开过程平稳、机构简单、可靠性高等优点。介绍了该新型软着陆展开锁定机构的展开原理,分析了该机构的奇异性,建立了其运动学方程组,获得了主支柱主要参数运动变化规律。研究结果表明,该新型软着陆展开锁定机构在展开过程中无奇异点,展开过程运动平稳。The structure of the deployable and lockable soft-landing mechanism for Apollo detector is complex and not reliable.To overcome the disadvantages,a new deployable and lockable soft-landing mechanism for planetary probes is developed.The compressing,deploying and locking devices of the new mechanism share a set of mechanism,and the new mechanism has the advantages of steady deploying,simple construction and high reliability.The deployment and locking theory of the new mechanism is introduced.Then,the singularity of the mechanism is analyzed and its kinematics equations are established.Matlab is used to simulate the deploying process of the new mechanism to obtain the variation laws of the main pillar＇s motion parameters.Test results show that the new mechanism has no singularity and every step of its movement has identified.

关 键 词：软着陆机构 展开锁定机构 运动学 仿真 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]