导弹舱段六自由度并联调姿托架设计及运动学分析  

Design and Kinematic Analysis of 6-DOF Parallel Posture Adjusting Bracket for Missile Cabin

作　　者：袁桢棣 周愿愿 张解语 钟珂珂 YUAN Zhen-di;ZHOU Yuan-yuan;ZHANG Jie-yu;ZHONG Ke-ke(Shanghai Spaceflight Precision Machinery Institute,Shanghai 201600,China;Xidian University,Shaanxi Xi'an 710071,China)

机构地区：[1]上海航天精密机械研究所,上海201600 [2]西安电子科技大学,陕西西安710071

出　　处：《机械设计与制造》2022年第1期202-205,共4页Machinery Design & Manufacture

基　　金：装备预研共用技术项目(41423010401)。

摘　　要：针对导弹舱段对接主要依靠手工作业的现状,设计一种六自由度并联调姿托架,可完成舱段偏航、俯仰、自转全姿态位置调整,实现舱段自动化、高效率对接。首先建立调姿托架的三维模型并对其结构进行介绍;其次对模型进行运动学理论分析,得到了自由度、运动学方程及其正反解,并利用ADAMS软件对调姿托架进行运动学仿真,获得自由度计算结果以及相关位姿曲线,验证了理论分析结果;最后对研制的调姿托架进行了实验验证,结果证明了调姿平台设计的合理性。Aiming at the current situation that the missile cabin docking mainly relies on manual operation,a6-DOF parallel posture adjusting bracket is designed,which can complete the yaw,pitch and rotation full attitude position adjustment of the cabin,and realize the cabin automation and high efficiency docking.Firstly,the 3 D model of the posture adjusting bracket is established and its structure is introduced.Secondly,the DOF and kinematics equations are obtained by kinematic analysis of the model.The DOF calculation results and the relative pose curves are obtained using ADAMS.In the end,the feasibility of the design of the posture adjusting bracket is also proved through an experiment.

关 键 词：导弹舱段对接 调姿托架 运动学分析 ADAMS仿真 实验验证 

分 类 号：TH16[机械工程—机械制造及自动化]