基于ADAMS的新型空间飞爪捕获机构设计与仿真验证  

Design and Simulation Verification of a New Type of Space Flying Claw Capture Mechanism Based on ADAMS

作　　者：邓军生 史凯 Deng Junsheng;Shi Kai(School of Construction Machinery,Chang’an University,Xi’an 710064,China)

机构地区：[1]长安大学工程机械学院,西安710064

出　　处：《机电工程技术》2025年第5期59-64,共6页Mechanical & Electrical Engineering Technology

摘　　要：为了缓解近地轨道资源压力和增强太空探索的可持续性,解决传统的刚性捕获适应性差、柔性捕获连接刚度低等问题,设计了一种新型空间飞爪捕获机构。首先,对空间飞爪捕获机构的机械结构开展详细设计,该捕获机构由驱动机构、抓捕执行机构、滑轮组机构、收绳机构及质心调整机构5部分组成,结合设计结果对其功能原理进行阐述,并且针对不同的目标设计不同的抓捕策略;然后,建立捕获爪运动学坐标系,以此作为动力学仿真过程中捕获目标的先决条件;最后,利用ADAMS动力学软件对捕获机构的容差性和碰撞接触力进行仿真分析和验证。仿真结果表明,该捕获机构径向位置和轴向位置捕获容差可达20 cm,满足设计容差性指标要求,碰撞过程的最大接触力为450N,满足设计要求,验证结构设计的有效性和可行性。In order to relieve the pressure of low Earth orbit resources and enhance the sustainability of space exploration,a new space flying claw acquisition mechanism was designed to solve the problems of poor adaptability of traditional rigid acquisition and low stiffness of flexible acquisition connection.Firstly,the mechanical structure of the space flying claw capture mechanism is designed in detail.The capture mechanism consists of five parts:drive mechanism,capture execution mechanism,pulley block mechanism,rope collection mechanism and centroid adjustment mechanism.The functional principle of the capture mechanism is described according to the design results,and different capture strategies are designed according to different objectives.Then,the kinematic coordinate system of the capture claw is established,which is the prerequisite for capturing the target in the process of dynamic simulation.Finally,the tolerance and collision contact force of the capture mechanism are simulated and verified by ADAMS dynamics software.The simulation results show that the capture tolerance of the radial position and axial position of the capture mechanism can reach 20 cm,which meets the requirements of the design tolerance index.The maximum contact force during the collision process is 450 N,which meets the design requirements and verifies the effectiveness and feasibility of the structural design.

关 键 词：捕获机构 结构设计 容差性 碰撞接触 

分 类 号：V19[航空宇航科学与技术—人机与环境工程] TP241.5[自动化与计算机技术—检测技术与自动化装置]