Research On Simulation And Test Of Advanced Spacesuit Joint Performance Based On Gait Walking

With the further development of manned space program,China will carry out the planetary exploration.In the field of manned spaceflight,extravehicular spacesuit is the indispensable protective equipment.Extravehicular spacesuit should not only provide astronaut with basic life support,but also prossess excellent mobility,especially the mobility of lower limb joints.Therefore,the performance of extravehicular spacesuit needs testing and evaluating during its research and design process.The spacesuit hip joint design and its performance simulation and test are studied deeply and systematically in this thesis.The geometric model of astronaut's lower limb is established and its kinematics model is derived by D-H model method.The dynamics analysis of lower limb is conducted based on Lagrange method.The torque-time curve of each lower limb joint is obtained by Matlab,which provides a theoretical basis for joint design,performance analysis and optimization of extravehicular spacesuit.The design requirements of extravehicular spacesuit joint are analyzed.According to the physiological structure and movement characteristics of the hip joint,a new design of extravehicular spacesuit hip joint with a splicing structure is proposed based on the principle of bionics,which prossesses the advantages of light weight and slight volume fluctuations.The mechanical hysteresis characteristic of spacesuit hip joint is analyzed and predicted based on the Preisach hysteresis model.The rigid-flexible coupling technology based on ADAMS-ANSYS for spacesuit performance simulation is put forward.A multi-rigid model of astronaut's lower limb is set up and the simulation is conducted by ADAMS.The modal neutral file(MNF)of spacesuit is created by ANSYS and imported into ADAMS.The spacesuit flexible body and the lower limb rigid body are connected with the rigid region and coupling technology,and the simulation of astronaut wearing spacesuit is carried out.Through analysis and comparison,The feasibility and effectiveness of the rigid-flexible coupling technology for spacesuit performance simulation are verified.A test system for the hip joint performance of extravehicular spacesuit is designed and its detailed design of mechanical structure is conducted.The sensors are selected and the data acquisition system is set up.The test system can measure the torque and range of motion of extravehicular spacesuit hip joint during its movement process,at the same time,the gravity effect of lower limb components is removed,and the accuracy of measurement is enhanced,which provides an important basis for evaluating and optimizing the performance of spacesuit hip joint.In this thesis,a new design of extravehicular spacesuit hip joint with a splicing structure is proposed,the rigid-flexible coupling technology for spacesuit performance simulation is put forward and a test system for the hip joint performance is designed.These technologies provide effective platforms and tools for the development of extravehicular spacesuit,and have important theoretical significance and practical value.