Design Method And Dynamical Research Of The Hybrid Transfer Mechanism

The transfer mechanism is a component that transfers the inspector from the lander to the surface of a planet,which is mainly applied in the field of exploring the extraterrestrial planet.The transfer technology represented by the transfer mechanism is one of the key technologies required by the exploring mission among the technical system.It's also a key to determine the success or failure of the mission.Therefore,the study of transfer release technology always wins the attention of the world's space power.Based on the requirements of the transfer mechanism in the future Lunar and Mars mission,this paper aims on the transfer and release technology as the research object,puts forward the hybrid transfer mechanism(HTM),and carries out the research on the design method of structure,dynamics,mechanical performance.The research of this paper are as follows:1)Based on the analysis and summary of the features of several transfer mechanism schemes,the HTM is proposed in this paper.The HTM is made of the rocker arm,pendulum bar,guiding rail,suspension ladder,screw-slider mechanism,locking mechanism and releasing mechanism.The power source of the HTM is provided by the torque motor.The torque motor controls the releasing mechanism to release the rope and the screw-slider mechanism controls the swing speed of the pendulum bar,as a result controlling the declining speed of the inspector which is on the combination of the guiding rail and suspension ladder.The working process of the hybrid transfer mechanism includes six stages:unlocking,expanding,posturing,transferring and landing,different stages need different mechanisms to work.2)Based on the Hamiltonian principle and the Lagrangian method with constraints,a dynamic mathematical model of the hybrid transfer mechanism-inspector system(HTMIS)is established.Based on it,use the Newmark method to obtain the movement trend curve of the inspector during HTM working,which is helpful to carry out the dynamic simulation of HTMIS.3)Based on the analysis of the working principle and kinematics of the HTM,the dynamic control model of the HTMIS is established.Based on this,the kinetic simulation of HTMIS is carried out in the situation of the horizontal landing,leaning forward?15 landing,leaning backward?15 landing,rolling ?15 landing.The simulation results show that the HTM can safely transfer the inspector to the ground in all these situation.4)Based on the kinematic simulation,the kinematic curve of the inspector and the force curve of the core components are obtained to determine the most dangerous time point of the core components in the four situation.It's the basis of the finite element simulation to check the strength performance of the core components and determine the maximum carrying capacity of the HTM.The finite element simulation results show that:the stress,strain and deformation of the core components are the largest among the second stage in the four situation,but none of them have the strength damage.In the four situation,the situation of rolling ?15 landing is the most dangerous situation.The HTM proposed in this paper,hopes it can provided some useful technique information to the transfer and release technology researchers as a new idea.