• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (7): 1-10.doi: 10.3901/JME.2018.07.001

• 机构学及机器人 •    下一篇

大型套接式展收机构接头设计分析及刚度试验研究

肖航1, 杨巧龙2, 任守志2, 李龙1, 徐坤1, 丁希仑1   

  1. 1. 北京航空航天大学机械工程及自动化学院 北京 100191;
    2. 北京空间飞行器总体设计部 北京 100094
  • 收稿日期:2017-04-22 修回日期:2017-09-01 出版日期:2018-04-05 发布日期:2018-04-05
  • 通讯作者: 徐坤(通信作者),男,1981年出生,博士,讲师。主要研究方向为仿生机器人、可展机构、机器人机构学。E-mail:xk_sea@163.com
  • 作者简介:肖航,男,1992年出生,博士研究生。主要研究方向为可展收机构驱动与控制。E-mail:xiaohang@buaa.edu.cn
  • 基金资助:
    国家自然科学基金(51305009,51635002)和航天CAST基金资助项目。

Design Analysis and Stiffness Test of a Large Telescopic Deployable Mechanism Joint

XIAO Hang1, YANG Qiaolong2, REN Shouzhi2, LI Long1, XU Kun1, DING Xilun1   

  1. 1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191;
    2. Beijing Institute of Spacecraft System Engineering, Beijing 100094
  • Received:2017-04-22 Revised:2017-09-01 Online:2018-04-05 Published:2018-04-05

摘要: 套接式展收机构展开锁定后的刚度主要由相邻套接筒接头刚度决定。为了保证套接式展收机构整体刚度,设计了一种碳纤维复合材料与金属材料相结合的套接筒接头结构。考虑套接筒接头间隙的影响,将套接筒接头刚度分为间隙未排除段和间隙排除段,对其弯曲刚度进行了理论建模和仿真分析。开发了相应的接头弯曲刚度测试试验装置,实现了弯矩定量加载。设计了相应的弯矩测试试验方法和流程,对三组具有不同间隙的套接筒接头样件进行了刚度测试试验。研究揭示了套接筒接头在间隙未排除段和间隙排除段的刚度变化规律,即间隙未排除段套接筒接头的刚度随着间隙的增大而减少,间隙排除段套接筒接头的刚度约为等效长度碳纤维筒的刚度。试验结果验证了理论分析的正确性,对于提高套接式展收机构整体刚度性能具有重要意义。

关键词: 刚度测试, 结构, 套接式, 展收机构

Abstract: Stiffness of the locked telescopic deployable mechanism is mainly determined by the joint stiffness of adjacent telescopic tubes. A telescopic joint structure which combines carbon fiber composite and metal materials is designed to ensure the total stiffness of the telescopic deployable mechanism. Considering the influence of joint clearance, telescopic joint stiffness is divided into clearance non-elimination case and clearance elimination case. Theoretical modeling analysis and simulation of the joint bending stiffness is carried out. Experimental device for bending stiffness test is developed and test moments can be loaded quantitatively. According to corresponding test method and procedures, stiffness tests on three telescopic joint specimens with different clearance are performed. This research reveals the change law of joint stiffness in clearance non-elimination case and clearance elimination case, namely joint stiffness decreases with the increase of clearance in the clearance non-elimination case, and is approximately equal to the stiffness of carbon tube with equivalent length in the clearance elimination case. Test results conform the theoretical analysis and simulation and have important significance for the improvement of total stiffness performance of the telescopic deployable mechanism.

Key words: deployable mechanism, stiffness testing, structure, telescopic

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