Research On A New Type Of Flexible Claw Catching Mechanism

With the continuous exploration of space field,space debris capture has become a hot research direction in recent years.This technology can not only be used to remove the increasing space debris and save the precious orbit resources,but also can be used to capture the enemy satellites during the war.The combination of rigid and flexible capture method has high adaptability,small attitude disturbance to the service satellite,and relatively simple control,so the combination of rigid and flexible capture method occupies the mainstream of space debris cleaning research.This paper mainly designs a new type of capture claw type flexible capture mechanism,and carries out kinematic analysis,synchronous expansibility analysis and high-precision flexible dynamics simulation for the capture mechanism.Finally,the principle prototype of the new type of flexible capture mechanism is developed and assembled for debugging.The ground test is designed and the initial conditions of the experiment are determined through simulation.First of all,this paper designs a new type of flexible capture mechanism,and describes in detail the overall scheme design,transmission mechanism design,capture claw design,compression device design and capture process.Through the analysis of the kinematics of the claw,after defining the design variables,objective functions and constraints,the multi-objective function sub-objective multiplication and division method is used to get the optimal solution of the claw parameters,complete the calculation of the load moment,select the joints and lead screws,and analyze the statics of key components.Secondly,this paper calculates the driving torque of the constant moment hinge based on the Newton Euler algorithm.After establishing the capture claw coordinate system,the simplified Newton Euler algorithm is used to optimally solve the constant moment hinge expansion synchronization.After the driving torque is obtained,a dynamic model is constructed in ADAMS and after the driving torque is checked for reasonableness Complete constant torque spring parameter design.Then,this paper conducts high-precision flexible dynamics simulation on the capture process of the new flexible capture mechanism.In ANSYS,the first 6 natural frequencies of a single capture claw are measured by modal analysis.In ADAMS,the establishment of discrete rods and flexible beams and linear analysis methods make the single capture claw frequency as close as possible to the measured The natural frequency,and the design of the process of the capture task,presetting a variety of extreme conditions,verified the rationality of the new flexible capture tool program,and gave the tolerance of the new flexible capture tool.Finally,this paper develops a prototype of a new flexible catch mechanism for the designed parts processing,assembly and debugging.Design a space debris removal ground experiment system,and check and verify the finite element analysis of key parts.On the ADAMS platform,simulation experiments of space debris removal ground experiments were carried out to verify the rationality of the ground experiment program,and the initial conditions of the ground experiment were obtained.