航天器三指式对接机构运动学分析及尺寸优化  

Kinematic analysis and size optimization of triple-finger docking mechanism in spacecraft

作　　者：邹恒 边宇枢[1] 宁京宣 王波 ZOU Heng;BIAN Yu-shu;NING Jing-xuan;WANG Bo(School of Mechanical Engineering and Automation,Beihang University,Beijing 100191;Unit No.63956,Beijing 100093;Institute of Spacecraft System Engineering CAST,Beijing 100191)

机构地区：[1]北京航空航天大学机械工程及自动化学院 [2]63956部队 [3]北京空间飞行器总体设计部

出　　处：《机械设计》2018年第11期95-99,共5页Journal of Machine Design

摘　　要：航天器对接机构是完成空间在轨对接任务的核心机构。为避免在对接过程中发生对接任务失败或对接机构与航天器外部结构发生干涉碰撞等问题,在设计过程中需对对接机构的结构尺寸进行设计优化。文中针对对接任务的初始位置偏差的容差性能提炼了机构尺寸优化的约束条件,根据约束条件确定了优化变量,依据结构紧凑性要求建立了优化目标函数,得到了对接机构尺寸优化数学模型,求得对接机构最优尺寸,可为三指式对接机构的设计和对接初始条件的确定提供参考。The docking mechanism is a core part for the spacecraft to accomplish the on-orbit docking task.In order to avoid of failures during the docking process or other problems such as collisions and interferences between the docking mechanism and the external structure of the spacecraft,the structure size of the docking mechanism needs to be optimized in the designing process.The constraint conditions of size-optimization are brought out by summarizing the tolerances of the initial position deviations in docking task.Then,the optimization variables are determined according to the constraint conditions.After that,the optimization-objective function is established on the basis of the commands of the structural compactness.Finally,the size-optimization mathematical model and the optimal size of the docking mechanism are obtained.The research result can be a reference for those who try to design and decide the initial conditions of a triple-finger docking mechanism.

关 键 词：三指式对接机构 运动学分析 尺寸优化 MATLAB 

分 类 号：TH122[机械工程—机械设计及理论]