空间弱撞击对接机构工作空间与精度分析  

The Workspace and Kinematic Analysis and Simulation Research of the Low-Impact Mating System

作　　者：徐敏[1] 聂宏[1] 陈金宝[1] 陈传志[1] 

机构地区：[1]南京航空航天大学机械结构力学及控制国家重点实验室,江苏南京210016

出　　处：《机械设计与制造》2014年第8期130-133,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(51105196);江苏省自然科学基金(BK2011733)

摘　　要：空间弱撞击对接机构(LIDS)的工作空间以及对接精度是对接机构对接能力和质量的保证。以空间弱撞击对接机构的工作空间及工作空间内的精度为研究对象,分析了影响LIDS工作空间的主要因素,如执行推杆长度的限制、转动副转角的限制及结构框的限制,并给出了约束条件。同时,推导了工作空间内精度分析模型。在此基础上,以LIDS的初步设计仿真模型为例,进行了仿真分析,得到了机构的工作空间边界曲线,并得出了工作空间内位姿精度偏差最大值及其所处位置,验证了模型满足设计要求。The workspace and accuracy of the low-impact mating system （LIDS） is the assurance of docking system＇s docking quality. The workspace and the precision of the workspace of the low-impact mating system are the research object. The main factors influencing the LIDS workspace are analyzed, such as the limit of push rod＇s length, the limit of the rotation angle and the limit of the structure frame, and also the constraint condition is given. At the same time, the precision analysis model in the workspace was deduced. On this basis, take the LIDS of preliminary design simulation model for example, has carried on the simulation analysis, and verified the model meet the design requirements. The study is significant for detailed design and optimization of the low impact docking system.

关 键 词：弱撞击对接机构 MATLAB 工作空间 精度分析 

分 类 号：TH16[机械工程—机械制造及自动化] V526[航空宇航科学与技术—人机与环境工程]