Affiliation:
1. North China Institute of Aerospace Engineering, Langfang, Hebei, China
2. School of Mechanical Engineering, Sichuan University, Langfang, Hebei, China
3. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin city, Heilongjiang Province, China
Abstract
In this paper, the dynamic interaction between the locking system and the space manipulator is analyzed, and a misalignment tolerance capability analysis method for the distributed locking system of the space manipulator is proposed. Based on the structure and layout characteristics of the locking mechanism, the collision dynamics analysis between the manipulator and the locking system during the locking process is carried out, and the factors for the locking failure caused by the escape of the locking frame on the passive end of the locking mechanism are obtained. Aiming at the factors of escape of the locking frame and improving the misalignment tolerance of the locking system, the locking action matching of the active end of the locking system is carried out, which lays a foundation for the design of a collaborative locking strategy. The collaborative locking strategy model of the locking system was established to match the locking speed of the hook in the locking stage. Using the proposed misalignment tolerance capability analysis method combined with simulation software to simulate the conventional locking strategy and the collaborative locking strategy. By comparing the simulation results, the large misalignment tolerance capability of the collaborative locking strategy is verified.
Funder
The Youth Natural Science Foundation of Hebei Province
the College Student Innovation and Entrepreneurship Training Program
the PhD research startup foundation of the North China Institute of Aerospace Engineering
The Scientific Research Project of Higher Education Institutions of Hebei Province
he National Defense Innovation Fund Project of North China Institute of Aerospace Industry
The Central Guidance on Local Science and Technology Development Fund of Hebei Province
The Natural Science Foundation of China
the Hebei Province Graduate Student Innovation Ability Training Funding Project
the Postgraduate Innovation Funding Project of North China Institute of Aerospace Engineering