面向在轨维修的电动工具冲击机构设计  

Design of power tool impact mechanism for on-orbit maintenance

作　　者：陈洋 傅浩[1,2] 于洋 郭涛[1] CHEN Yang;FU Hao;YU Yang;GUO Tao(Beijing Institute of Spacecraft Environment Engineering,Beijing 100094,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China;National Key Laboratory of Science and Technology on Reliability and Environmental Engineering,Beijing 100094,China)

机构地区：[1]北京卫星环境工程研究所,北京100094 [2]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 [3]可靠性与环境工程技术重点实验室,北京100094

出　　处：《航天器环境工程》2023年第2期148-154,共7页Spacecraft Environment Engineering

基　　金：军科委领域基金项目;中国空间技术研究院杰出青年基金项目(编号:R-WY-JQRC-19)。

摘　　要：针对空间站上大型在轨可替换单元的在轨维修任务需求,开发了一种低转速、大力矩输出且具有小反作用力、低冲击振动特点的舱外电动工具离合器式冲击机构。通过运动微分方程分析了单个碰撞周期内冲击机构的关键运动状态,并推导出稳定运行过程的力矩控制方程;研究了冲击机构关键设计参数对极限冲击力矩的影响,并根据设计结果进行结构瞬态动力学仿真;搭建在轨维修地面模拟试验平台和舱外活动(EVA)模拟装置进行了冲击电动工具的功能验证试验和工效学试验,结果表明:受试者手部承受的反作用力和振动幅值很小,工具产生的最大拧紧力矩为41.64 N·m,能够对M10螺钉进行有效的拧紧和拧松作业。以上研究可为在轨冲击型大力矩输出电动工具的研制提供技术支撑。In order to meet the requirements of on-orbit maintenance of large orbital replacement units(ORU)on the space station,a clutch impact mechanism of extravehicular power tool with low rotation speed,large torque output,small reaction force,and low impact vibration was developed.By establishing a differential equation of motion,the key motion state of the impact mechanism in a single collision period was analyzed,and the torque control equation of stable operation process was derived.The influence of key design parameters of impact mechanism on ultimate impact torque was studied,and the structural transient dynamic simulation was carried out based on the design results.The on-orbit maintenance ground simulation test platform and extravehicular activities(EVA)simulator were set up to carry out the functional verification test and ergonomic test of impact power tool.The results show that the reaction force and vibration amplitude of the subject’s hand are rather small,and tightening torque produced by the tool can be as large as 41.64 N·m,enough for tightening and loosening M10 screws.The research may provide technical support for the development of the impact tools with high torque output on orbit.

关 键 词：在轨维修 冲击电动工具 冲击机构 工效学 

分 类 号：V476.1[航空宇航科学与技术—飞行器设计] V444.391