In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture t...In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture the payload with large capture allowance.Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness.The experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,respectively.The maximum connection stiffness is 4 800 N·m.The end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.展开更多
In order to present a dynamic analysis method for the rigid-flexible coupled bar linkage system(RFCBLS),the flexible element motion equation was gotten by Lagrange Equation and the rigid element motion equation was go...In order to present a dynamic analysis method for the rigid-flexible coupled bar linkage system(RFCBLS),the flexible element motion equation was gotten by Lagrange Equation and the rigid element motion equation was gotten based on rigid constraint conditions.The multi-body system(MBS) is a complex mechanism and its components have quite different rigidities.If it is considered as a rigid MBS(RMBS) to do its dynamic analysis,elastic deformation's ignorance will lead to inaccurate analysis.If it is considered as a flexible MBS(FMBS) to establish,analyze,and solve the model,quite large system equations make it difficult to solve.The better method is as follows:the complex mechanism system is regarded as a rigid-flexible coupled system(RFCS) to make dynamic characteristic of rigid components be equivalent,system equation is established by FMBS' way,and system equation dimensions are reduced by transition matrices' introduction.A dynamic analysis method for rigid element and flexible element coupling was presented based on the FMBS.The analyzed crank slide-block mechanism results show that the dynamic analysis method for RFCBLS is quick and convenient.展开更多
基金Project(2006AA04Z228) supported by the National High Technology Research and Development Program of China
文摘In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture the payload with large capture allowance.Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness.The experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,respectively.The maximum connection stiffness is 4 800 N·m.The end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.
基金Key Laboratory of Fundamental Science for National Defense,China(No. HIT. KLOF. 2009058)
文摘In order to present a dynamic analysis method for the rigid-flexible coupled bar linkage system(RFCBLS),the flexible element motion equation was gotten by Lagrange Equation and the rigid element motion equation was gotten based on rigid constraint conditions.The multi-body system(MBS) is a complex mechanism and its components have quite different rigidities.If it is considered as a rigid MBS(RMBS) to do its dynamic analysis,elastic deformation's ignorance will lead to inaccurate analysis.If it is considered as a flexible MBS(FMBS) to establish,analyze,and solve the model,quite large system equations make it difficult to solve.The better method is as follows:the complex mechanism system is regarded as a rigid-flexible coupled system(RFCS) to make dynamic characteristic of rigid components be equivalent,system equation is established by FMBS' way,and system equation dimensions are reduced by transition matrices' introduction.A dynamic analysis method for rigid element and flexible element coupling was presented based on the FMBS.The analyzed crank slide-block mechanism results show that the dynamic analysis method for RFCBLS is quick and convenient.
