| 空间弱撞击对接机构对接过程运动学分析 |
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| 引用本文： | 徐敏,聂宏,陈金宝,陈传志,席佳胜.空间弱撞击对接机构对接过程运动学分析[J].机械设计与制造工程,2014(1):5-9. |
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| 作者姓名： | 徐敏 聂宏 陈金宝 陈传志 席佳胜 |
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| 作者单位： | 南京航空航天大学机械结构力学及控制国家重点实验室,江苏南京210016 |
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| 摘 要： | 以空间弱撞击对接机构（LIDS ）对接过程为研究对象，通过运用Pro/ENGINEER软件建立机构的三维模型，采用矢量方法建立运动学模型，对其位置和姿态进行了分析。运用Newton -Raphson迭代法对空间弱撞击对接机构进行了位置正解分析，表明该方法可以迅速求解。以对接机构的三维模型和运动学模型为基础，通过MATLAB和ADAMS软件进行联合仿真分析，得到了满足设计要求的运动轨迹曲线，从而验证了运动学模型。对弱撞击对接机构进行了动力学仿真，得到了机构传力构件的最大受力情况。
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| 关 键 词： | 对接机构 Stewart平台 运动学分析 仿真 |
Research of The Kinematic Analysis and Simulation for the Docking Process of Low-impact Mating System |
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| XU Min,NIE Hong,CHEN Jinbao,CHEN Chuanzhi,XI Jiasheng.Research of The Kinematic Analysis and Simulation for the Docking Process of Low-impact Mating System[J].Machine Design and Manufacturing Engineering,2014(1):5-9. |
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| Authors: | XU Min NIE Hong CHEN Jinbao CHEN Chuanzhi XI Jiasheng |
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| Affiliation: | XU Min, NIE Hong, CHEN Jinbao, CHEN Chuanzhi, XI Jiasheng |
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| Abstract: | Based on the docking process of the low -impact mating system（LIDS）, it establishes the 3D model of the mating system in the software of Pro/E, builds the inverse kinematic model with vector method , and analyzes the position of the organization .And then it takes the forward kinematic analysis with Newton -Raphson iteration method.The result shows that Newton -Raphson iteration method can meet the requirement of real -time con-trol.Based on the 3D model and kinematics model , it realizes the simulation based on Matlab and Adams , and verifies the kinematics model .The dynamic simulation for the low -impact mating system obtains the biggest stress distribution of power transmission components . |
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| Keywords: | Mating System Stewart Platform Kinematic Analysis Simulation |
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