本文選題：在軌維護 + 末端操作工具��； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著空間技術(shù)的快速發(fā)展,艙外和空間任務(wù)日趨復(fù)雜多樣,大量功能各異的空間飛行器被發(fā)射到太空。目前,各國的研究重點已經(jīng)不僅僅是復(fù)雜航天系統(tǒng)的發(fā)射,而是如何保證已發(fā)射的航天器能夠安全、穩(wěn)定和長久地運行并完成空間任務(wù)。因此,空間在軌維護技術(shù)已成為當前的研究熱點與難點�？臻g環(huán)境存在高真空、高輻射等復(fù)雜多樣的特性,使宇航員的艙外維護活動成本高并伴有高風(fēng)險性。由空間機器人代替宇航員進行在軌維護,可以有效降低成本、減小危險并能長期可靠地工作。在空間機器人技術(shù)領(lǐng)域,針對航天器進行拆卸、維修與組裝,研制空間機械臂末端操作工具也是關(guān)鍵技術(shù)之一。通過對國內(nèi)外現(xiàn)有相關(guān)項目研究成果的研究,本文研制了一系列針對常用連接件進行拆裝的空間機械臂末端操作工具。首先,針對在軌維護任務(wù)和設(shè)計指標要求,提出了空間機械臂末端工具的總體設(shè)計方案。對常用螺紋連接件的特點進行了綜合分析與對比,設(shè)計了3種拆裝工具,并通過三維建模軟件完成了所有零部件的設(shè)計、虛擬裝配、干涉檢查和重量預(yù)測;考慮到由關(guān)節(jié)柔性和運動誤差等因素引起的機械臂末端徑向位置偏差,提出了一種基于雙十字滑塊結(jié)構(gòu)的偏差補償方案,并對滑塊的運動特性與傳動效率進行了分析;設(shè)計了工具與末端執(zhí)行器對接的統(tǒng)一接口,使工具安全、可靠地安裝在執(zhí)行器上,并接受其傳遞的兩種動力,由仿真分析驗證了接口的位姿容差能力;對工具的核心功能進行了分析與討論,通過分析計算與有限元軟件對結(jié)構(gòu)復(fù)雜的零部件進行了強度校核。然后,研究了空間機械臂的控制策略以滿足在軌維護任務(wù)中對工具進行操作的需求。結(jié)合螺釘?shù)牟鹧b任務(wù)討論了機械臂在不同階段控制模式的切換;鑒于維護任務(wù)的準備階段對位置精度的需求,討論了PD與計算力矩兩種控制方法,并通過仿真進行了對比分析;為滿足工具對接與連接件拆裝階段對機械臂柔順性的需求,建立了基于位置的阻抗控制算法,由仿真分析驗證了其控制效果。最后,研制了操作工具的實體樣機,搭建了相應(yīng)的實驗平臺,并開展了相關(guān)的實驗驗證。為驗證操作工具的基本功能,進行了位置偏差補償、夾持爪收放實驗,并分析了實驗結(jié)果;為驗證工具的整體性能與相關(guān)控制策略,進行了連接件的拆裝實驗,實驗結(jié)果表明:本文研制的操作工具設(shè)計方案可行,滿足設(shè)計指標,選用的控制策略合理。
[Abstract]:With the rapid development of space technology, extravehicular and space missions are becoming more and more complex, and a large number of space vehicles with different functions have been launched into space. At present, the research focus of various countries is not only the launch of complex space system, but also how to ensure that the launched spacecraft can operate safely, stably and permanently and complete the space mission. Therefore, the space-in-orbit maintenance technology has become the current research hotspot and difficulty. The space environment has many complex characteristics, such as high vacuum, high radiation and so on, which makes the extravehicular maintenance of astronauts high cost and high risk. The space robot can effectively reduce the cost, reduce the danger and work reliably for a long time by replacing the astronauts for on-orbit maintenance. In the field of space robot technology, it is also one of the key technologies to disassemble, maintain and assemble spacecraft, and to develop the terminal operation tool of space manipulator. Based on the research results of related projects at home and abroad, a series of space manipulator terminal operation tools are developed for disassembling and assembling common connectors. Firstly, according to the requirements of on-orbit maintenance task and design index, the overall design scheme of the space manipulator end tool is proposed. The characteristics of common threaded connectors are analyzed and compared. Three kinds of disassembly tools are designed, and the design of all parts, virtual assembly, interference inspection and weight prediction are completed by 3D modeling software. Considering the radial position deviation of the end of the manipulator caused by the joint flexibility and motion error, a deviation compensation scheme based on the double-cross slider structure is proposed, and the motion characteristics and transmission efficiency of the slider are analyzed. The uniform interface between the tool and the terminal actuator is designed, which makes the tool secure and reliable installed on the actuator, and accepts the two kinds of power transmitted by it. The tolerance of the interface is verified by the simulation analysis. The core function of the tool is analyzed and discussed, and the strength of the parts with complicated structure is checked by means of analysis, calculation and finite element software. Then, the control strategy of space manipulator is studied to meet the need of tool operation in orbit maintenance mission. Considering the need of position precision in the preparation stage of maintenance task, the PD and torque control methods are discussed and compared by simulation. An impedance control algorithm based on position is set up to meet the requirements of tool docking and connection disassembly and assembly. The control effect is verified by simulation analysis. Finally, the prototype of the operation tool is developed, the corresponding experimental platform is set up, and the relevant experimental verification is carried out. In order to verify the basic function of the operation tool, the position deviation compensation, gripping claw retraction experiment, and analysis of the experimental results are carried out, and in order to verify the overall performance of the tool and the related control strategy, the disassembly and assembly experiments of the connecting parts are carried out. The experimental results show that the design scheme of the operating tool is feasible, the design index is satisfied, and the control strategy is reasonable.
【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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