面向空间软捕获的双模传动关节设计与仿真

星载抓捕机构在空间目标捕获任务中发挥着重要作用，然而空间捕获时的对接碰撞很容易导致抓捕机构失稳。针对空间捕获软对接问题，设计了一种双模传动软接触关节，既能实现双自由度刚性传动，同时可通过阻尼吸振实现空间六维碰撞的缓冲和卸载。在ADAMS仿真软件中建立单关节星载抓捕机构模型，通过空间单维和六维碰撞下的仿真研究，验证了软接触关节缓冲和卸载空间六维碰撞的原理及其对基座与关节稳定的有效性。进一步建立三关节星载抓捕机构模型，通过空间六维碰撞下的仿真试验，说明了双模传动软接触关节在多关节抓捕机构中应用的有效性。

Design and Simulation of Dual-mode Transmission Joint for Spatial Soft Capture

The space-borne manipulator has been playing an important part in the acquisition task of spatial targets, but the docking collision during space capture can easily lead to the instability of both the manipulator and floating base. Aiming at the problem of soft capture, a kind of dual-mode transmission soft-contact joint is developed, which can not only realize the rigid transmission of double degrees of freedom, but also realize the buffering and unloading of space six dimensional collision through damping vibration absorption. The single joint space-based capture mechanism model is established in ADAMS software. The principle of buffering and unloading spatially six-dimensional collision, and the effectiveness for the stability of base and joint, are verified through the comparative simulation of spatially single-dimensional and six-dimensional collision. Furthermore, the model of three joint on-board catching mechanism is established, and the effectiveness of the application of dual-mode transmission soft contact joint in multi joint catching mechanism is illustrated by the simulation experiment in six-dimensional space collision.