空间机械臂锁紧机构等效线性化分析及验证

田士涛; 吴清文; 贺帅; 徐振邦; 吴君

doi:10.3788/OPE.20162403.0590

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空间机械臂锁紧机构等效线性化分析及验证

微纳技术与精密机械 | 更新时间：2020-08-13

- 空间机械臂锁紧机构等效线性化分析及验证
- Linear analysis and practical tests of fixation mechanisms in space robotic arm
- 光学精密工程 2016年24卷第3期页码：590-599
- 作者机构：
  
  1. 中国科学院长春光学精密机械与物理研究所,吉林长春,130033
  2. 哈尔滨工业大学机器人技术与系统国家重点实验室, 黑龙江哈尔滨 150080
  3. 中国科学院大学北京,100039
- 作者简介：
- 基金信息：
  
  国家自然科学基金资助项目(No.11302222)();中国科学院长春光学精密机械与物理研究所创新基金资助项目(No.Y2CX1SS125)()
- DOI：10.3788/OPE.20162403.0590
  中图分类号： V416.2;V476.1
- 收稿日期：2015-03-01，
  
  修回日期：2015-04-02，
  
  纸质出版日期：2016-03-25
- 稿件说明：
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田士涛, 吴清文, 贺帅等. 空间机械臂锁紧机构等效线性化分析及验证[J]. 光学精密工程, 2016,24(3): 590-599

TIAN Shi-tao, WU Qing-wen, HE Shuai etc. Linear analysis and practical tests of fixation mechanisms in space robotic arm[J]. Editorial Office of Optics and Precision Engineering, 2016,24(3): 590-599
田士涛, 吴清文, 贺帅等. 空间机械臂锁紧机构等效线性化分析及验证[J]. 光学精密工程, 2016,24(3): 590-599 DOI： 10.3788/OPE.20162403.0590.

TIAN Shi-tao, WU Qing-wen, HE Shuai etc. Linear analysis and practical tests of fixation mechanisms in space robotic arm[J]. Editorial Office of Optics and Precision Engineering, 2016,24(3): 590-599 DOI： 10.3788/OPE.20162403.0590.

摘要

空间机械臂的锁紧机构刚度特性具有非线性特征

在开展整臂动力学分析时需要对其进行等效线性化处理

故本文提出了一种基于六维刚度等效的线性化方法并进行了分析验证。建立了锁紧机构单机在预紧状态下的非线性模型

通过非线性计算获取了锁紧机构各向刚度数值

并将其提供给用于模拟锁紧释放机构的BUSH单元。对机械臂整体模型进行了模态分析以及频率响应分析。结果表明:整臂前三阶固有频率为89 Hz、92 Hz和96 Hz

和试验结果最大相差为3%;各组件加速度响应分析结果与试验结果吻合较好

最大相差为8%

证明了提出的线性化方法的有效性。该方法考虑了各向刚度之间耦合关系

并且不必逐一处理锁紧机构接触面

有较强的工程实用价值。

Abstract

The stiffness characteristics of fixation mechanisms of a space robotic arm show nonlinear

and it should be processed in linearity by equivalence method in the dynamic analysis on the whole-system. A method based on six-dimensional stiffness equivalence for linearizing fixation mechanisms was proposed and related analysis and tests were performed as well. A nonlinear model of a single preloaded fixation mechanism was created and corresponding stiffness information of the fixation mechanism was acquired through nonlinear analyses. Then the above information was offered to BUSH elements to simulate the fixation mechanism. The modal analysis and frequency response of whole model for the robotic arm was carried out. The results indicate that the first three natural frequencies of the whole system are 89 Hz

92 Hz

96 Hz and the maximum relative error between analysis results and test results is 3%. Moreover

the frequency response analysis results of different components are consistent with that of the test results and maximum relative error is 8%

which verify the effectiveness of the above method. The method takes the coupling of stiffness in different directions into account

and avoids processing the contact surfaces of the fixation mechanisms one by one

showing a stronger practical engineering value.

关键词

Keywords

references

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