带有齿隙的空间机械臂动力学仿真与试验设计  

Dynamical Simulation and Experimental Design of Space Manipulator with Backlashes

作　　者：李思远[1] 陈子坤 梁曦[1] 石亦琨 魏承[1] 赵阳[1] LI Siyuan CHEN Zikun LIANG Xi SHI Yikun WEI Cheng ZHAO Yang(School of Astronautics Aerospace Engineering, Harbin Institute of Technology, Harbinl50001, China School of Aeronautic Science and Engineering, BeiHang University Beijing 100191, China Captial Spaceflight Machinery Company, Beijing 100076, China)

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [2]北京航空航天大学航空科学与工程学院,北京100191 [3]首都航天机械公司,北京100076

出　　处：《测试技术学报》2017年第1期17-23,共7页Journal of Test and Measurement Technology

基　　金：国防重点学科实验室开放基金资助项目

摘　　要：本文以带有齿隙的空间机械臂为研究对象,通过气悬浮的方式实现微重力的模拟,用改变一对标准渐开线支持圆柱齿轮中心距的方式,实现关节齿隙的连续可调,设计了试验验证机构的三维模型,并基于ADAMS搭建其动力学模型对多齿隙机械臂的动力学模型进行仿真分析.对模型进行加工装配后,设计控制系统、测量系统和供气辅助系统,并设计验证试验,使其能够实现对于不同齿隙情况,反映微重力环境下齿隙对机械臂系统动力学特性的影响,为延长空间机械臂的使用寿命提供理论指导.Taking space manipulator with backlashes for research object,theair-floatation equipment is used to achieve the microgravity environment,and a pair of standard involute center distances of the cylindrical gear is changed to continuously adjust the backlashes of joint.Three-dimensional model of the mechanism of experimental verification are designedbased on ADAMS.After assembling the model,design the control system,measuring system and air-floatation auxiliary system,and design the verification test to make it can reflect the dynamical impact of space manipulator system For different backlashes in the microgravity environment,in order to provide theoretical guidance to extend the life of the space manipulator.

关 键 词：微重力 标准渐开线直齿圆柱齿轮 动力学模型 

分 类 号：V423.9[航空宇航科学与技术—飞行器设计]