复合材料柔性空间机械臂振动特性分析  

Analysis of Vibration Characteristics of Composite Flexible Space Manipulator

作　　者：王囡囡[1] 魏传彤 刘才山[2] WANG Nannan;WEI Chuantong;LIU Caishan(School of Mechanical and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China;School of Engineering,Peking University,Beijing 100871,China)

机构地区：[1]山东建筑大学机电工程学院,济南250101 [2]北京大学工学院,北京100871

出　　处：《载人航天》2025年第1期44-51,共8页Manned Spaceflight

基　　金：国家自然科学基金项目(11923001,11702002);山东省重点研发计划(重大科技创新工程、科技示范工程)项目(2022CXGC020701)。

摘　　要：针对复合材料空间机械臂在运动过程中柔性臂杆易产生强烈振动的问题,将空间机械臂简化为旋转刚体-薄壁梁模型,进行了中心转速、复合材料铺层方式以及横截面形状对复合材料柔性空间机械臂振动特性影响的研究。首先,根据复合材料的本构关系,建立了复合材料薄壁梁的本构方程;然后,基于欧拉-伯努利梁理论和哈密顿原理,利用本构方程和旋转梁的运动学模型建立了梁的偏微分动力学方程,通过傅里叶变换将连续系统离散为多自由度系统,进而得到了梁的离散振动方程;最后,将振动方程无量纲化,通过数值计算求解薄壁梁的固有频率和模态。模态分析结果表明:固有频率会随中心转速的增大而变大,随铺层角度的增大而变小。此外,横截面锥度对复合材料旋转变截面薄壁梁振动特性起决定性作用,截面锥度的减小会增大固有频率,同时降低铺层角度对固有频率的影响。This article simplifies the space manipulator into a rotational rigid-body-thin-walled beam model and investigates the effects of central rotation speed,composite material layup method,and cross-sectional shape on the vibration characteristics of composite material flexible space manipula-tors.First,based on the constitutive relationship of composite materials,the constitutive equation of composite thin-walled beams was established.Then,relying on Euler-Bernoulli beam theory and Hamilton’s principle,the partial differential dynamic equation of the beam was derived using the constitutive equation and the kinematic model of rotating beams.By Fourier transformation,the con-tinuous system was discretized into multiple free systems,leading to the discrete vibration equation of the beam.Finally,the vibration equation was non-dimensionalized,and the inherent frequencies and modes of the thin-walled beam were numerically calculated to reveal the influence of rotational speed,layup angle,and cross-sectional tapering on the vibration characteristics of rotating variable cross-section thin-walled beams made of composite materials.

关 键 词：旋转梁 变截面 固有频率 复合材料 

分 类 号：V414.4[航空宇航科学与技术—航空宇航推进理论与工程]