小型空间对接机构设计与仿真分析  

Design and Simulation Analysis of a Small-Sized Space Docking Mechanism

作　　者：马如奇[1] 高翔宇 姜水清[1] 白美 王友渔[1] 侯亮[1] MA Ruqi;GAO Xiangyu;JIANG Shuiqing;BAI Mei;WANG Youyu;HOU Liang(Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications,Institute of Spacecraft System Engineering,CAST,Beijing 100094,China)

机构地区：[1]北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室

出　　处：《载人航天》2019年第6期783-788,共6页Manned Spaceflight

基　　金：国家重点基础研究计划(973计划)(SQ2012CB087949)

摘　　要：针对航天器在轨服务过程中的捕获对接需求,设计了一种新型三爪式小型对接机构。该机构由主动捕获机构与被动适配器组成,通过主动捕获机构上圆周均布的3个捕获手抓与3个线性缓冲阻尼单元,实现航天器间的大容差与弱冲击捕获对接,建立了考虑接触、摩擦与碰撞等因素的对接机构动力学仿真模型。仿真结果表明,该主动捕获机构能够在最大位姿容差指标条件下实现对被动适配器的可靠捕获对接,对接机构中的阻尼缓冲单元能够有效消除对接过程中的碰撞冲击。To meet the capturing and docking requirements of on-orbit service,a novel small-sized docking mechanism with three claws was proposed.The docking mechanism was composed of an active capture mechanism and a passive adapter.Through three capture hands and three linear buffers damping units distributed uniformly on the active capture mechanism,the large tolerance and weak impact could be realized during the capture and docking process.The dynamics simulation model of the docking mechanism which considered factors such as contact,friction and collision was established.The simulation results showed that the active capturing mechanism could capture the passive adapter reliably under the condition of maximum position and pose tolerance index of the docking mechanism,and the damping buffer unit could effectively eliminate the impact in the docking process.

关 键 词：三爪捕获机构 对接机构 对接仿真 能量耗散 

分 类 号：V526[航空宇航科学与技术—人机与环境工程]