空间大型末端执行器柔性绳索捕获动力学研究

doi:10.3969/j.issn.1000-1093.2016.09.025

兵工学报 ›› 2016, Vol. 37 ›› Issue (9): 1730-1737.doi: 10.3969/j.issn.1000-1093.2016.09.025

空间大型末端执行器柔性绳索捕获动力学研究

荣吉利¹，辛鹏飞¹，诸葛迅²，杨永泰³，项大林¹

(1.北京理工大学宇航学院力学系，北京 100081； 2.北京航天动力研究所，北京 100076；3.中国科学院泉州装备制造研究所，福建泉州 362000)

收稿日期:2015-12-26 修回日期:2015-12-26 上线日期:2016-11-04
通讯作者: 荣吉利 E-mail:rongjili@bit.edu.cn
作者简介:荣吉利(1964—)，男，教授，博士生导师
基金资助:
国家自然科学基金项目（10972033）；中国航天科技集团公司航天科技创新基金项目（CAST20100141107）

Capturing Dynamics of Flexible Ropes for Space Large-scale End Effector

RONG Ji-li¹, XIN Peng-fei¹, ZHUGE Xun², YANG Yong-tai³, XIANG Da-lin¹

（1.Department of Mechanics, School of aerospace Engineering, Beijing Institute of Technology, Beijing 100081， China；2.Beijing Aerospace Propulsion Institute, Beijing 100076，China；3.Quanzhou Institute of Equipment Manufacturing, Chinese Academy of Sciences, Quanzhou 362000，Fujian,China)

Received:2015-12-26 Revised:2015-12-26 Online:2016-11-04
Contact: RONG Ji-li E-mail:rongjili@bit.edu.cn

摘要/Abstract

摘要： 针对绳索式末端执行器缠绕及捕获卫星过程中的动力学问题，采用绝对节点坐标方法描述横观各向同性柔性绳索的缠绕运动，及卡尔丹角描述刚体卫星的姿态运动，并引入绳索与目标间的非线性动力学模型，建立包含末端执行器固定环和旋转环、绳索及被捕获卫星抓杆在内的刚柔耦合动力学模型。结合广义α法以及工程上常用的Scaling技术，利用Matlab开发了计算程序，实现动力学方程的高效精确数值求解。计算结果表明：此模型能较好地模拟柔性绳索缠绕及捕获卫星的过程，同时给出捕获过程中卫星姿态的变化及绳索的运动和受力情况，为实际工程中捕获机构的设计和试验提供一定的参考依据。

关键词: 航空、航天科学技术基础学科, 捕获动力学, 柔性绳索, 卫星姿态, 刚柔耦合, 绝对节点坐标方法

Abstract: The problems of dynamics during winding and capturing a satellite by the space manipulator end-effector are studied. The winding movement of transverse isotropic flexible wire ropes is described by absolute nodal coordinate formulation (ANCF), and Cardan angles are applied to describe the attitude of the rigid satellite. A rigid-flexible coupling dynamic model containing a stationary ring and a rotation ring fixed on the end-effector, three ropes and a shaft of the captured satellite is established. Nonlinear contact force is introduced to reveal the interaction between shaft and wire ropes. The generalized-α method and the scaling technique are employed to develop a numerical calculation program for solving the dynamic equations precisely and efficiently. Simulation results show that the proposed dynamic model can preferably simulate the processes of flexible wire rope winding and satellite capturing. The change of satellite attitude and rope movement during capturing are obtained, which could provide reference basis for design and test of capturing mechanism.

Key words: basic disciplines of aerospace science and technology, capturing dynamics, flexible rope, satellite attitude, rigid-flexible coupling, absolute nodal coordinate formulation

中图分类号:

V414.1

荣吉利，辛鹏飞，诸葛迅，杨永泰，项大林. 空间大型末端执行器柔性绳索捕获动力学研究[J]. 兵工学报, 2016, 37(9): 1730-1737.

RONG Ji-li, XIN Peng-fei, ZHUGE Xun, YANG Yong-tai, XIANG Da-lin. Capturing Dynamics of Flexible Ropes for Space Large-scale End Effector[J]. Acta Armamentarii, 2016, 37(9): 1730-1737.

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空间大型末端执行器柔性绳索捕获动力学研究

Capturing Dynamics of Flexible Ropes for Space Large-scale End Effector

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