北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (12): 2660-2666.doi: 10.13700/j.bh.1001-5965.2018.0342

• 飞行器设计与制造 • 上一篇    下一篇

一种仿生附着装置柔顺关节的优化设计

崔永灿1, 宋婷2, 孙俊2, 楚中毅1   

  1. 1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100083;
    2. 上海航天控制技术研究所 上海市空间智能控制技术重点实验室, 上海 201109
  • 收稿日期:2018-06-08 修回日期:2018-07-27 出版日期:2018-12-20 发布日期:2018-12-28
  • 通讯作者: 楚中毅 E-mail:chuzy@buaa.edu.cn
  • 作者简介:崔永灿,男,硕士研究生。主要研究方向:空间机器人技术;楚中毅,男,博士,教授,博士生导师。主要研究方向:空间机器人技术。

Optimization design of compliant joints of bionic adhesive device

CUI Yongcan1, SONG Ting2, SUN Jun2, CHU Zhongyi1   

  1. 1. School of Instrumentation and Optoelectronic Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. Shanghai Key Laboratory of Space Intelligent Control Technology, Shanghai Spaceflight Control Technology Institute, Shanghai 201109, China
  • Received:2018-06-08 Revised:2018-07-27 Online:2018-12-20 Published:2018-12-28

摘要: 为提高仿生附着装置在捕获空间非合作目标物时对目标运动参数的适应性,设计了一种3自由度串联柔顺关节,可通过关节嵌入系统后的协调运动来辅助装置被动适应运动目标物姿态,并在运动过程中基于弹簧、阻尼缓冲器组成的关节柔顺机构及其能量耗散原理来降低目标物动能。为验证、优化关节性能,通过ADAMS虚拟样机软件建立了基于柔顺关节的仿生附着装置捕获过程运动学与动力学模型,分析了柔顺关节3组弹簧刚度系数、黏滞阻尼系数对非合作目标物捕获状态的影响,并利用ADAMS-iSIGHT联合仿真平台,通过多岛遗传算法对上述弹簧、阻尼器的重要参数进行了优化,极大提高了柔顺关节的能量耗散效果,同时保证了可捕获目标物运动参数达到规定要求。

关键词: 在轨捕获, 非合作目标, 柔顺关节, 仿生附着装置, 参数优化

Abstract: In order to improve the adaptability of the bionic adhesive device to target motion parameters when capturing non-cooperative objects in space, a 3-degree-of-freedom series compliant joint is designed. When the joints are embedded in the system, the device can passively adapt to the moving object posture through the coordinated movement of the joints. Meanwhile, the kinetic energy of the target is gradually reduced based on the joints' compliant mechanism consisting of springs, dampers and their energy dissipation function. In order to verify and optimize the joints' performance, a kinematics and dynamics model are established for bionic adhesive device's capture process based on compliant joints using virtual prototyping software ADAMS. The effects of spring stiffness coefficient and damping coefficient on the capture state of non-cooperative objects in the three groups of compliant joints are analyzed. By the ADAMS and iSIGHT co-simulation method, a multi-island genetic algorithm is used to optimize the spring stiffness and damping coefficient of compliant joints. Through parameter optimization, the energy dissipation effect of the bionic adhesive device compliant joints is improved. The motion parameters of the target that can be captured reach the specified envelope range.

Key words: on-orbit capture, non-cooperative target, compliant joint, bionic adhesive device, parameter optimization

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