Research On The Key Technologies Of Redundant Linear Electro-mechanical Actuator For Docking Mechanism System

With the research of the Space station, Spacelab and Space communications equipment in orbitassembly, maintenance, supplies and space rescue, the International Berthing and DockingMechanism(IBDM) soft docking capture system is been widely attention and application.Based on the current development of domestic and foreign Docking Mechanism system, thispaper proposed a new Electro-Mechanical Actuator--Redundant Linear Electro-Mechanical Actuatorfor Docking Mechanism System (LEMA). In this paper, some key technologies for LEMA, includingredundancy design, transmission accuracy and transmission dynamics, are proposed. The mainresearch results obtained in this paper are as follows:1. By analyzing requirement of Docking Mechanism system, the functional requirement anddesign indictors are determined. The arrangement and the redundancy design of the LEMA aredisguised. Overall scheme of the LEMA is proposed.2. The backlash of the LEMA transmission system is analyzed and the transmission accuracy isestablished. Based on the sensitivity theory, the sensitivity of influencing factors on the accuracy ofthe transmission train is analyzed. According to the analysis, the transmission error distribution isdeveloped.3. Based on the Lagrange equation, the torsional dynamic model for LEMA transmission systemis developed by lumped-parameter method. The motion deferential equation of the model is presented,and is solved using numerical integration. In addition, the planetary gear dynamic load coefficient anddynamic load-sharing coefficient is researched.4. The3D model of LEMA is established with the redundant actuation system, linear motionsystem and limit damping system designed detailedly. And according to the requirements, atest-platform of the LEMA is designed for its performance verification.Based on the above research, a prototype of the LEMA is manufactured. And a test has beenperformed on the designed test-platform in order to confirm the function and performance of LEMA.The test results show that the LEMA is a system with a smooth movement and a high accuracy, whichis required. These achievements can provide technical support for the research of indigenous IBDM inour country.