本文選題：快換系統(tǒng)　切入點：標(biāo)準(zhǔn)接口　出處：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著太空資源的開發(fā)以及對空間未知領(lǐng)域的探索,越來越多繁雜的空間開發(fā)任務(wù)亟待人們?nèi)ソ鉀Q,為了更好地完成這些任務(wù),各種各樣的專用操作工具被設(shè)計出來并應(yīng)用到空間任務(wù)中。為了配合空間機(jī)械臂系統(tǒng)更好的完成各種在軌任務(wù),減少完成空間任務(wù)的成本,一般會給一個機(jī)械臂系統(tǒng)配備多個不同的末端操作工具。所以針對空間機(jī)械臂研制一種一端與機(jī)械臂末端固連,另外一端攜帶工具的功能齊全、安全可靠、高效率的快換系統(tǒng)是非常必要的,它對于空間機(jī)械臂系統(tǒng)完成在軌維護(hù)任務(wù)以及減少在軌維護(hù)的成本等方面都具有十分重大的意義。首先,本文根據(jù)機(jī)械臂的實際情況提出了快換系統(tǒng)的技術(shù)要求;對快換系統(tǒng)進(jìn)行了整體的功能分析,按照不同的模塊分別討論其機(jī)械結(jié)構(gòu)以及實現(xiàn)功能的方式與可行性;然后對設(shè)計要求中提出的指標(biāo)參數(shù)進(jìn)行理論分析計算,最后結(jié)合有限元分析軟件對關(guān)鍵零部件進(jìn)行校核仿真分析,驗證設(shè)計的合理性。其次,針對快換系統(tǒng)中的外接工具模塊,重點設(shè)計了一種剪切線纜的剪刀工具和一種切割太陽能帆板的切削工具。針對兩種操作工具的具體工作任務(wù)和工作環(huán)境等因素,明確工具的參數(shù)要求;著重針對切削工具的刀頭進(jìn)行設(shè)計,對剪刀工具的剪切力以及虎口的張開程度進(jìn)行分析。再者,分析了快換系統(tǒng)和外接工具之間的標(biāo)準(zhǔn)接口的容差能力,確定了最大容差范圍;利用相關(guān)軟件進(jìn)行模擬仿真實驗;最后結(jié)合實驗室的庫卡機(jī)械臂平臺進(jìn)行了實驗驗證。最后,針對對接過程進(jìn)行過程分析;然后對機(jī)械臂系統(tǒng)的各個關(guān)節(jié)進(jìn)行數(shù)學(xué)建模,從而得出各個關(guān)鍵參數(shù)對機(jī)械臂控制精度的影響;結(jié)合對接實驗以及切削加工實驗,對其中一部分參數(shù)對機(jī)械臂控制的影響進(jìn)行實驗驗證,以保證理論推導(dǎo)及軟件仿真的可行性以及正確性。
[Abstract]:With the development of space resources and the exploration of unknown space, more and more complex space development tasks need to be solved.A variety of specialized operating tools are designed and applied to space missions.In order to cooperate with the space manipulator system to complete all kinds of on-orbit tasks and reduce the cost of completing the space tasks, a robot arm system is usually equipped with many different terminal operation tools.Therefore, it is very necessary to develop a fast switching system for space manipulator with one end fixed to the end of the arm and the other end carrying tools with complete functions, safety and reliability, and high efficiency.It is of great significance for the space manipulator system to complete the on-orbit maintenance task and to reduce the cost of on-orbit maintenance.Firstly, according to the actual situation of the manipulator, this paper puts forward the technical requirements of the fast-changing system, analyzes the whole function of the fast-changing system, discusses its mechanical structure and the way and feasibility of realizing the function according to the different modules.Then the parameters proposed in the design requirements are theoretically analyzed and calculated. Finally, the key parts are checked and simulated with the finite element analysis software to verify the rationality of the design.Secondly, aiming at the external tool module in the fast changing system, a shearing cable scissors tool and a cutting tool for cutting solar panels are designed.Aiming at the specific work task and working environment of the two kinds of operating tools, the parameter requirements of the tools are defined, and the cutting head of the cutting tools is designed, the shear force of the scissors tools and the opening degree of the tiger's mouth are analyzed.Thirdly, the tolerance ability of the standard interface between the fast-changing system and the external tool is analyzed, and the maximum tolerance range is determined. The simulation experiments are carried out by using the related software. Finally, the experiment is verified by the Kuka manipulator platform in the laboratory.Finally, the process analysis of the docking process is carried out; then the mathematical modeling of each joint of the manipulator system is carried out, and the influence of each key parameter on the control accuracy of the manipulator is obtained; combined with the docking experiment and the cutting experiment,In order to ensure the feasibility and correctness of theoretical derivation and software simulation, the effect of some parameters on manipulator control is verified experimentally.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP241

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