论文部分内容阅读
针对野外崎岖地形、太空站舱内等复杂狭窄操作环境中的刚性对接问题,构造了一种刚性对接位姿偏差评估指数,建立了目前常见对接导引方式的几何约束模型,并采用偏差评估指数就对接导引方式的约束效果进行了衡量和比较,提出逐级消除位姿偏差的基本对接方法。在此基础上设计了用于多维大偏差刚性对接的少自由度混联刚性对接机构,就对接过程中各阶段位姿偏差的变化情况进行分析,并给出刚性对接机构的具体设计参数、最大对接位姿允差和与之相对应偏差评估指数。最后,搭建了JL-2多维大偏差刚性对接机构样机平台,并进行了相关实验,实验结果与理论计算值基本相符,证明该设计方案可有效满足多维大偏差情况下的刚性对接要求。
Aiming at the problem of rigid docking in complex and narrow operating environments such as rough terrain in the field and space station cabin, a rigid alignment evaluation index was constructed and the geometric constraint model of the common docking guidance was established. The deviation evaluation index The binding effect of docking guidance was measured and compared, and the basic docking method to eliminate the position and attitude deviation step by step was proposed. On the basis of this, a rigid coupling system with few degrees of freedom and a large number of rigid joints with large degrees of freedom is designed. The variation of poses and poses in each phase of the docking process is analyzed. The specific design parameters of the rigid docking mechanism are given. The maximum Docking pose tolerance and the corresponding deviation assessment index. Finally, a prototype platform of JL-2 multi-dimensional large-deviation rigid butt-jointing mechanism is set up and relevant experiments are carried out. The experimental results are in good agreement with the theoretical ones. It proves that the design scheme can effectively meet the rigid docking requirements under multi-dimensional large deviation.