空间大型结构体组装接口设计及装配性能分析  

Design and Assembly Performance Analysis of Large Space Structure Assembly Interface

作　　者：史创[1] 郭宏伟[1] 王洪洋 陶磊 刘荣强[1] 邓宗全[1] SHI Chuang;GUO Hong-wei;WANG Hong-yang;TAO Lei;LIU Rong-qiang;DENG Zong-quan(State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《宇航学报》2021年第12期1493-1501,共9页Journal of Astronautics

基　　金：中国博士后科学基金资助项目(2021M690827);黑龙江省博士后专项经费资助项目(LBH-Z20135);国家自然科学基金青年项目(52005123);哈尔滨工业大学师资博士后科研启动项目。

摘　　要：为满足超大型(公里级)空间结构在轨组装的需求,设计了一种全新的空间大型结构体组装接口并对其装配性能进行了详细的分析。首先,详细设计了一种纯机械式双锁定组装接口。其次,通过建立接口运动学模型,对组装接口的容差性能进行了分析,得出X方向容差为14.25 mm,Z方向容差为15.84 mm,绕X,Y,Z三个轴的角度容差分别为5.65°、5.51°和5.34°。最后,对对接接口进行了ADAMS仿真分析,验证了容差分析的正确性,得到了对接机构接触力与静摩擦系数、机械臂推力、碰撞锥角之间的非线性影响关系,为空间对接机构的设计奠定了基础。To meet the needs of on-orbit assembly of super large(kilometer level)space structures,a brand-new assembly interface for large space structures is designed and its assembly performance is analyzed in detail.Firstly,a pure mechanical double lock assembly interface is designed in detail.Secondly,the interface kinematics model is established to analyze the tolerance performance of the assembly interface.The results show that the X-direction tolerance is 14.25 mm,the Z-direction tolerance is 15.84 mm,the angular tolerances around the X,Y and Z axes are 5.65°,5.51°and 5.34°respectively.Finally,the docking interface is simulated by ADAMS to verify the correctness of the tolerance analysis.The nonlinear relationships among the contact force,the static friction coefficient,the thrust of the manipulator and the impact cone angle are obtained.The results lay a foundation for the design of a space docking mechanism.

关 键 词：在轨装配 组装接口 结构设计 运动学 容差性能 

分 类 号：V414.3[航空宇航科学与技术—航空宇航推进理论与工程]