| With the rapid development of global space in-orbit services,space manipulator,as a key mechanism of space in-orbit services,has been widely used and has become an indispensable part of the application of space technology.Expensive space manipulator is developing towards high precision and reliability,and the reliability of space manipulator directly affects the success or failure of space in-orbit maneuvering mission.In the process of launching with the spacecraft,the manipulator has to bear the inertial force generated by the acceleration and has been in an extremely complex vibration environment.If the layout and stiffness of the locking unit and other parameters are improperly selected in the launching process,it is very likely to cause the failure of the locking device,the fundamental frequency of the system plummets and the launching carrier produces resonance,resulting in the damage of the manipulator.In order to prevent the system resonance caused by the failure of the locking device and make the fundamental frequency of the locked manipulator greater than that of the transmitting carrier,the locking system should have excellent dynamic performance to resist the vibration load.After the in-orbit control mission,the space manipulator needs to return to the ground for data collection,ground maintenance and control accuracy detection,to satisfy the closed-loop feedback of the experimental space control mission.The repeated capture and lock system can realize the capturing and locking function of the space manipulator,which is an important guarantee to complete the round-trip task of the manipulator.Therefore,it is very necessary to study the capture and lock system of the space manipulator.At present,there is little research on locking and repetitive capture technology of space manipulator in our country.Therefore,this paper carries out a and b research on the distributed acquisition system of space manipulator.Therefore,this paper researches the layout optimization method of the capture and lock system,the optimization method of three-dimensional locking stiffness,the design of the capture mechanism,the analysis method of dynamic tolerance capability and the cooperative capture strategy for the distributed capture and lock system of the space manipulator.Based on the adaptive growth law of roots of monocot plants,this paper establishes a simplified model of space manipulator and a three-dimensional spring support model,a locking point layout optimization and stiffness optimization method for multi-joint complex mechanism of space manipulator is proposed.The design of the capture mechanism is carried out based on the layout of the capture unit and the optimal design of three-dimensional stiffness.The positioning mode of the capture unit is designed based on the constraint of the degree of freedom of the capture and lock system to the manipulator.Based on the locking stiffness optimization results of the capture unit,the passive end configuration of the capture unit is designed.The interaction between the capture and lock system and the space manipulator during the capture process is analyzed.Based on the analysis results of the influence of the dynamic pose error and static pose error of the manipulator on the capture task,a dynamic tolerance capability analysis method for the distributed capture and lock system of the space manipulator is proposed.Based on the structure and layout characteristics of the capture unit,the collision dynamics analysis between the manipulator and the capture and lock system in the process of dynamic capture is carried out.In order to improve the tolerance of the capture and lock system,the capture sequence of the capture hook is arranged and the capture action is matched,which lays the foundation for the design of the cooperative capture strategy.The model of cooperative capture strategy of the capture and lock system is established to match the capture speed of the capture hook in the capture stage. |
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