摘要
对接环的推出精度、主被动环的间隙是转位机械臂捕获锥捕获初始条件偏差的主要来源;二者与捕获初始条件偏差的关系由转臂的尺寸、舱体的尺寸决定;用矢量分析的方法,建立了从转位机械臂到节点舱接纳锥空间位置姿态关系的解析数学模型,应用Adams和Matlab软件对捕获初始条件范围进行了计算和分析,为接纳锥尺寸设计及机械臂方案提供了依据。
Push precision of the active docking ring and the clearance of the active and passive docking tings are the key factors of initial condition deflection in capturing for the capture conic of the robot arm. The extent of deflection is decided by the size of redoeking mechanism robot arm and the capsule. The method of vector analysis is applied in building the analytical mathematics model, which establishes the space location and orientation relations from robot arm to passive conic. Softwares such as Adams and Matlab are applied to calculate and analyze the scope of initial condition for capturing, with the results providing basis for the size of the passive conic and the design of the robot arm.
出处
《载人航天》
CSCD
2011年第2期9-14,共6页
Manned Spaceflight
关键词
推出精度间隙初始条件位置姿态转位机械臂
Push Precision
Clearance
Initial Condition
Location and Orientation
Robot Arm of Redocking Mechanism
