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基于主被动复合驱动的思想提出一种大伸展/收拢比、高载荷/自重比的新型伸缩式伸杆机构,以满足微纳探测器的实际应用需求,用于支撑各类探测载荷远离航天器本体,避免本体剩磁对空间待测信号的干扰,保证探测数据的准确性。首先,探索描述被动驱动源(弹簧铰链)的力矩驱动特性;然后,分析柔性伸杆的弯曲、扭转、压平和卷曲等力学性能。在此基础上,结合建立的柔性伸杆伸展速度、负载动能、弹簧铰链势能及主动驱动(电动机)力矩等参数的能量流约束方程,进行主、被动驱动和柔性伸杆的参数匹配研究;最后,利用有限元软件仿真和样机平台实验验证了参数匹配的合理性。仿真与实验结果表明,针对主被动复合驱动的空间探测柔性伸杆机构,通过合理的参数匹配,可实现柔性伸杆无褶皱地平稳伸展和收拢,为后续的机构设计和控制方案奠定了基础。
Based on the principle of active and passive compound driving, a new type of telescopic extensor mechanism with large stretching / collapsing ratio and high load / weight ratio is proposed to meet the practical application requirements of the micro / nano detectors and to support various types of detection loads away from the spacecraft Ontology, to avoid interference of ontology residual magnetism to the signal to be measured in space, and to ensure the accuracy of sounding data. First of all, to explore the description of the passive drive source (spring hinge) of the torque drive characteristics; and then analyze the flexible rod bending, twisting, flattening and crimping and other mechanical properties. On this basis, the parametric matching of the main and passive driven and the flexible extension rod is studied by combining the established energy flow constraint equations of the stretching speed, load kinetic energy, spring hinge potential and active torque (motor) , The validity of parameter matching was verified by finite element software simulation and prototype platform experiment. The simulation and experimental results show that the flexible extensional mechanism for space exploration driven by active and passive compounding can achieve the smooth extension and retraction of the flexible extensible bars without wrinkles through reasonable parameter matching, which lays the foundation for the subsequent design and control scheme of the mechanism.