空间翻滚目标同步跟踪机构的运动学仿真  

Kinematic Simulation of Synchronous Tracking Mechanism for Space Tumbling Target

作　　者：宋鸿玉 李志 黄剑斌 SONG Hong-yu;LI Zhi;HUANG Jian-bin(Qian Xuesen Laboratory of Space Technology,Beijing 100094,China)

机构地区：[1]钱学森空间技术实验室

出　　处：《计算机仿真》2019年第11期22-26,共5页Computer Simulation

摘　　要：由于空间飞行器存在能量耗尽,最终会绕其最大惯量主轴旋转,且其受多种环境力矩影响,在空间存在无序的进动,再加上其不受控的轨道运动,使其对空间中正常运行的飞行器构成威胁。为保护空间环境安全或使此类空间飞行器重新利用,应该对其进行离轨清除或维修等在轨服务。进行在轨服务时首先需要对目标进行跟踪,将目标抓捕并逐步稳定,对其进行抓捕的操作机构需安装于一个同步跟踪机构上,为了判断所设计的同步跟踪机构能否满足"同步跟踪"的运动学要求,对同步跟踪机构的正、逆运动学进行仿真,并最终得到同步跟踪机构末端执行器的正、逆运动学的仿真曲线的一致,通过这个结论可以证明所设计的同步跟踪机构可对空间翻滚目标进行同步跟踪。Due to the energy depletion of the space crafts, they would eventually revolve around their maximum inertia axis, and they are affected by a variety of environment moments. They exist in space in a disordered precession motion. And due to its uncontrolled orbit movement, which poses a threat to the normal operating space-crafts. In order to protect the space environment and to reuse this kind of space-crafts, on-orbit services such as deorbit clear or maintain are needed for them. In on-orbit service, the target was tracked first, then the target was captured and steadily stabilized. The operating capturing mechanism was installed on a synchronous tracking mechanism. In order to judge whether the designed synchronous tracking mechanism can meet the kinematic requirements of "synchronous tracking", the forward kinematics simulation and inverse kinematics simulation of the synchronous tracking mechanism were determined. Eventually, the simulation curve of the forward and inverse kinematics simulation of the synchronous tracking mechanism was achieved. It can be proved by this conclusion that the designed synchronous tracking mechanism can synchronize the space tumbling target synchronously.

关 键 词：正运动学仿真 逆运动学仿真 空间翻滚目标 同步跟踪机构 

分 类 号：V411.8[航空宇航科学与技术—航空宇航推进理论与工程]