航天员舱外活动计算机动态仿真  

Dynamic Simulation of Extra Vehicular Activity

作　　者：杨锋[1] 袁修干[1] 李银霞[1] 

机构地区：[1]北京航空航天大学人机环境工程研究所,北京100083

出　　处：《系统仿真学报》2003年第2期216-218,225,共4页Journal of System Simulation

基　　金：国家863计划资助项目(863-2-2-2-6)

摘　　要：详细阐述了应用计算多刚体系统动力学仿真航天员舱外活动EVA(Extra Vehicular Activity)的步骤。介绍了多刚体统系动力学的中Kane方法的基本原理,分析了Kane方法应用在EVA仿真中的可行性,介绍了反向运动学和反向动力学的基本概念。选取STS-63飞行中的一次任务,在对其进行适当简化的基础上,建立了航天员7节段6自由度的人体模型,利用Kane方法和反向运动学和反向动力学对模型进行了求解。对结果进行了分析,并得出了结论。The significance of computational simulation of the Extra Vehicular Activity (EVA) is demonstrated. General steps to simulate astronauts EVA using multi-body dynamics are introduced. Basic principle of Kanes method, inverse kinematics and inverse dynamics are described in detail. The feasibility of using Kanes method in simulating EVA is analyzed. A typical EVA, an actual large-mass-handling EVA performed on STS-63, is chosen as the example to simulate. Based on some simplifications, a human model with 7 segments and 6 degrees of freedom aiming at the EVA is established. Using the method presented, the model is solved and the results are analyzed.

关 键 词：航天员 舱外活动 计算机动态仿真 KANE方法 多刚体系统动力学 

分 类 号：V527[航空宇航科学与技术—人机与环境工程] TP391.9[自动化与计算机技术—计算机应用技术]