摘要
在空间站变轨、对接、分离等工况时会对空间机械臂产生冲击载荷。冲击载荷过大时,可能导致空间机械臂发生碰撞或部件超出屈服极限而失效。针对上述问题,首先建立了空间机械臂的有限元模型,空间机械臂内部采用多点约束模拟轴承转动,采用弹簧单元模拟谐波减速器的扭转刚度,在螺钉孔采用节点相连或者多点约束进行连接。进一步利用模态法对空间机械臂的几种极端工况展开时域瞬态分析,得到薄弱部件的应力响应和空间机械臂各部件相对于空间站的位移瞬态响应。最后通过校核安全裕度,预示了空间机械臂的在轨冲击载荷适应性。空间机械臂实际入轨工作后各种冲击工况下工作正常,验证了分析方法的正确性。
Impact loads can be generated on the space manipulator during operating conditions such as the space station's orbit maneuvering,docking,and separation.When the impact load is too large,it may cause the space manipulator to collide or its components to exceed the yield limit and fail.To address the above issues,a finite element model of the space manipulator was first established.Multi-point constraints were used inside the space manipulator to simulate bearing rotation,spring elements were used to simulate the torsional stiffness of the harmonic reducer,and node connections or multi-point constraints were adopted in the screw holes for connection.Furthermore,the modal method was used to carry out time-domain transient analysis on several extreme working conditions of the space manipulator,obtaining the stress response of the weak components and the transient displacement response of each component of the space manipulator relative to the space station.Finally,by checking the safety margin,the adaptability of the space manipulator to on-orbit impact loads was predicted.The space manipulator worked normally under various impact conditions after it was actually put into orbit,which verified the correctness of the analysis method.
作者
赵阳
贺帅
刘泰
吴清文
ZHAO Yang;HE Shuai;LIU Tai;WU Qing-wen(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun Jilin 130033,China;University of Chinese Academy of Sciences,Beijing 100049,China;Chinese Academy of Sciences Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System,Changchun Jilin 130033,China)
出处
《计算机仿真》
2025年第11期299-303,共5页
Computer Simulation
基金
国家自然科学基金(62405319)。
关键词
空间机械臂
冲击载荷
有限元分析
瞬态分析
Space robotic arm
Impact load
Finite element analysis
Transient analysis
