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空間機(jī)械臂關(guān)節(jié)非線性因素對(duì)指向精度的影響【2K-H行星輪系】

空間機(jī)械臂關(guān)節(jié)非線性因素對(duì)指向精度的影響

摘  要

隨著航天事業(yè)的高速發(fā)展以及空間機(jī)械臂的廣泛應(yīng)用，致使人們對(duì)天線指向精度的要求也在逐漸提高，而空間機(jī)械臂作為天線系統(tǒng)核心部件，對(duì)于天線機(jī)構(gòu)的指向行為有著重要影響。因此，本文通過(guò)調(diào)研大量文獻(xiàn)與國(guó)內(nèi)外研究現(xiàn)狀的基礎(chǔ)上，針對(duì)機(jī)械臂關(guān)節(jié)處非線性因素的影響做了進(jìn)一步研究。本文以行星輪系作為空間機(jī)械臂關(guān)節(jié)為主要研究對(duì)象，側(cè)重分析行星輪系的非線性因素對(duì)指向精度的影響。

本文選取2K-H行星輪系作為行星輪系的研究對(duì)象，在已有的行星輪系動(dòng)力學(xué)建模方法的基礎(chǔ)上，引入等效彈簧阻尼模型，建立了行星輪系的平移-扭轉(zhuǎn)耦合模型，進(jìn)而分析了行星輪系中非線性因素的計(jì)算。為了進(jìn)一步研究天線指向行為所受的影響，根據(jù)行星輪系的動(dòng)力學(xué)模型，建立了含行星輪系的天線動(dòng)力學(xué)模型，明確了關(guān)節(jié)處非線性因素對(duì)天線指向精度的影響。基于不同的非線性因素對(duì)天線指向行為的影響，使用ADAMS動(dòng)力學(xué)軟件對(duì)關(guān)節(jié)非線性因素進(jìn)行了模擬仿真，得出了行星輪系非線性因素影響指向精度的結(jié)果。進(jìn)而繪制了天線偏移量的波動(dòng)曲線，直觀地反應(yīng)了天線指向精度所受影響，并提出了規(guī)律性結(jié)論。這對(duì)于提高天線精度和降低機(jī)械臂制造成本有著重要指導(dǎo)意義。

關(guān)鍵詞　指向精度；非線性因素；行星輪系；ADAMS軟件

Effect of Space Manipulator Joint Nonlinear Factors on Pointing Accuracy

Abstract

  With the rapid development of aerospace industry and the wide application of space manipulator, the requirement of pointing accuracy to the antenna is gradually increasing, and the space manipulator has the important influence on the pointing behavior of the antenna mechanism as the core component of the antenna system. Therefore, based on the investigation of a large number of literature and the status research at home and abroad, this paper makes further research on the influence of nonlinear factors in the joints of the manipulator. In this paper, the planetary gear train is used as the space arm joint as the main research object, focusing on the analysis of the nonlinear factors of the planetary gear train on the precision of the impact.

  In this paper, the 2K-H planetary gear train is selected as the planetary gear train. Based on the existing dynamic modeling method of planetary gear train, the equivalent spring damping model is introduced to establish, the coupled model of planetary gear system is established, and then the nonlinear factors in planetary gear train are analyzed. In order to studying the influence of the antenna pointing behavior, the antenna dynamics model of the planetary gear train is established according to the dynamic model of the planetary gear train, and the influence of the nonlinear factors on the pointing accuracy of the antenna is clarified. Based on the influence of different nonlinear factors on the pointing behavior of the antenna, the non-linear factors of the joint are simulated by ADAMS, and the result of the accuracy of the nonlinear factors of the planetary gear train is obtained. And then we draws the fluctuation curve of the antenna offset, intuitively reflects the influence of the antenna pointing precision, and puts forward the regular conclusion. This has important guiding significance for improving the antenna accuracy and reducing the manufacturing cost of the manipulator.

Keywords　Pointing accuracy, nonlinear factor, planetary gear train, ADAMS

目錄

摘  要 I

Abstract II

第1章 緒論 1

1.1 課題研究的背景和意義 1

1.2 空間機(jī)械臂減速器綜述及國(guó)內(nèi)外研究現(xiàn)狀 1

1.2.1 行星輪系減速器國(guó)外研究現(xiàn)狀 1

1.2.2 行星輪系減速器國(guó)內(nèi)研究現(xiàn)狀 2

1.3 天線指向精度的影響因素 3

1.3.1 影響行星輪系減速器的非線性因素 4

1.3.2 行星輪系減速器作為關(guān)節(jié)的影響 4

第2章 行星輪系動(dòng)力學(xué)模型 6

2.1 動(dòng)力學(xué)模型的確立與假設(shè) 6

2.2 齒輪側(cè)隙的計(jì)算 8

2.3 嚙合誤差的計(jì)算 9

2.4 摩擦力的計(jì)算 10

2.5 耦合誤差的計(jì)算 11

2.6 本章小節(jié) 12

第3章 含行星輪系的天線動(dòng)力學(xué)模型 13

3.1 含行星輪系的天線動(dòng)力學(xué)模型 13

3.1.1 星載天線結(jié)構(gòu)模型簡(jiǎn)圖及其假設(shè) 13

3.1.2 星載天線動(dòng)力學(xué)建模 14

3.2 本章小節(jié) 14

第4章 ADAMS的數(shù)值仿真與結(jié)果比較 15

4.1 單個(gè)行星輪系對(duì)天線動(dòng)力學(xué)影響的研究 16

4.1.1 齒側(cè)間隙對(duì)天線動(dòng)力學(xué)的影響分析 16

4.1.2 嚙合誤差對(duì)天線動(dòng)力學(xué)的影響分析 17

4.1.3 摩擦因素對(duì)天線動(dòng)力學(xué)的影響分析 18

4.1.4 耦合誤差對(duì)天線動(dòng)力學(xué)的影響分析 19

4.1.5 本節(jié)小結(jié) 22

4.2 兩個(gè)行星輪系對(duì)天線動(dòng)力學(xué)的耦合研究 22

4.2.1 側(cè)隙對(duì)天線動(dòng)力學(xué)的影響分析 22

4.2.2 嚙合誤差對(duì)天線動(dòng)力學(xué)的影響分析 23

4.2.3 摩擦因素對(duì)天線動(dòng)力學(xué)的影響分析 27

4.2.4 耦合誤差對(duì)天線動(dòng)力學(xué)影響分析 29

4.2.5 本節(jié)小結(jié) 34

結(jié)論 35

致謝 36

參考文獻(xiàn) 37

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