周边式对接机构碰撞点快速求解的一种方法  

A Method for Fast Solving the Collision Points of Peripheral Docking Mechanism

作　　者：何明达 

机构地区：[1]上海交通大学重大装备设计与控制工程研究所,上海200240

出　　处：《机电一体化》2022年第4期11-18,共8页Mechatronics

摘　　要：针对周边式对接机构在对接过程中碰撞点位置的计算问题,提出一种碰撞点快速求解的方法。该方法简化了不同类型碰撞判定的数学条件,根据碰撞边缘对应的空间向量给出碰撞表达式,并引入最小碰撞距离和弦截法求解轴向碰撞位置。该方法具有分析结果直观、计算效率高、求解误差小等优点。根据NASA周边式对接机构的结构参数和对接条件,进行碰撞点的计算分析,并利用软件进行仿真验证。分析结果表明,20mm求解精度的计算时间减少了85%,10mm精度的计算时间减少了97%,5mm精度的计算时间减少了98%。该方法适用于任意参数的周边式对接机构对接过程中的碰撞点求解。Aiming at the calculation problem of collision points’ position in the docking process of peripheral docking mechanism,this paper presents a method for rapid solution of collision point.This method simplifies the mathematical conditions of different types of collision,gives the collision expression according to the space vector corresponding to the collision edge,and introduces the minimum collision distance and chord section method to solve the axial collision position.This method has the advantages of intuitive analysis results,high calculation efficiency and small solution error.Calculation and analysis on the collision points according to the structural parameters and docking conditions of NASA docking mechanism.The results show that the computing time corresponding to 20 mm accuracy is reduced by 85%,10 mm accuracy by 97%,and 5 mm accuracy by 98%.This method can be used to solve the collision points in the docking process of peripheral docking mechanism with arbitrary parameters.

关 键 词：周边式对接机构 空间对接 碰撞点 计算优化 

分 类 号：V526[航空宇航科学与技术—人机与环境工程]