空间轻质高刚度展开臂结构设计及动力学分析  

Structural Design and Dynamic Analysis of Space Lightweight and High Stiffness Deployable Arm

作　　者：李潇 史创[1] 闫凤霄[1] 郭宏伟 李冰岩[2] 王浩威 刘荣强 LI Xiao;SHI Chuang;YAN Fengxiao;GUO Hongwei;LI Bingyan;WANG Haowei;LIU Rongqiang(State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,Harbin 150001;Beijing Institute of Spacecraft System Engineering,Beijing 100094)

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 [2]北京空间飞行器总体设计部,北京100094

出　　处：《机械工程学报》2024年第23期43-52,共10页Journal of Mechanical Engineering

基　　金：黑龙江省自然科学基金联合引导项目(LH2022E052);国家自然科学基金面上项目(52175010)资助项目。

摘　　要：为提高空间对地观测的精度,人们对用于支撑探测载荷的可展臂性能要求越来越高,提出了一种空间一维轻质高刚度展开臂机构,设计了展开臂锁定铰链及基于Kagome构型的网格臂杆,提出了一种铰链-梁等效动力学建模方法。首先,基于展开臂系统展开锁紧高刚度的需求,设计了用锁钩锁紧的绳索驱动式铰链。其次,基于展开臂系统轻质的需求,选用Kagome构型臂管替代实体臂管,并优选网格参数。然后,基于能量等效原理,分别建立了铰链和臂杆系统的等效刚度模型,在此基础上,建立了铰链-梁等效动力学模型,并采用理论计算、仿真验证和实验测试验证了模型的正确性,该模型可以为其他空间大型展开臂的建模和优化提供理论参考。In order to improve the accuracy of space earth observation,the performance of deployable arm used to support the detection load is increasingly demanding.A one-dimensional space lightweight high-stiffness deployable arm mechanism is proposed.The deployable arm locking hinge and grid arm rod based on Kagome configuration are designed.Firstly,based on the requirement of high stiffness of the expansion lock of the expansion arm system,the rope driven hinge with the locking hook is designed.Secondly,based on the requirement of light weight of the expanded arm system,the Kagome configuration arm tube is selected to replace the solid arm tube,and the mesh parameters are optimized.Then,based on the energy equivalence principle,the equivalent stiffness models of the hinge and arm system are established respectively.On this basis,the equivalent dynamics model of the hinge-beam is established,and the correctness of the model is verified by theoretical calculation,simulation verification and experimental testing.The model can provide a theoretical reference for the modeling and optimization of other large space expandable arms.

关 键 词：空间展开臂 高刚度 轻量化设计 等效建模 动力学分析 实验验证 

分 类 号：TH122[机械工程—机械设计及理论]