基于空环缓冲动平台的Delta型火箭回收机构设计与分析

doi:10.3901/JME.2025.21.168

摘要/Abstract

摘要： 针对重型运载火箭回收的实际需求，提出了一种基于空环缓冲动平台的Delta型火箭回收机构。利用Delta机构的空间对称三维运动特性实现对火箭水平面的二维捕获运动与竖直方向的下放运动。设计了一种单自由度空环动平台，可实现火箭捕获瞬间的缓冲吸能。提出了一种嵌入被动式锁止机构的新型移动副，能够实现驱动的动静态瞬时切换，阻断冲击载荷向驱动器传递。研究了该新型Delta式火箭回收机构在满足捕获工作空间要求下的驱动工作空间与结构尺度的关系；评价了机构的可捕获空间范围和局部刚度性能；建立了连杆结构重量对驱动参数的影响评价指征；分析了适用于百吨级火箭回收的Delta型机构的驱动特性，以及空环动平台的缓冲性能指标。构建的基于Delta型并联机构的火箭回收机构的大重载高速捕获动态指标特性、空环缓冲吸能动平台设计与指标以及运动副瞬时切换机构能够为未来基于并联机构或多连杆机构的火箭回收装备研发提供技术支撑和参考依据。

关键词: 可重复使用火箭, 并联机构, 火箭回收机构, 缓冲机构, 动力学仿真

Abstract: To address the practical requirements for the recovery of heavy-lift launch vehicles, a Delta-type rocket recovery mechanism based on an annular cushioning moving platform is proposed. Utilizing the spatially symmetric three-dimensional motion characteristics of the Delta mechanism to achieve two-dimensional capturing motion in the horizontal plane and vertical lowering motion of the rocket. A single-degree-of-freedom annular moving platform is designed to enable energy absorption and cushioning during the instant of rocket capture. A novel kinematic pair embedded with a passive locking mechanism is introduced, allowing instantaneous switching between dynamic and static states of the drive, thereby blocking the transmission of impact loads to the actuator. The relationship between the driving workspace and structural dimensions of the proposed Delta-type rocket recovery mechanism, under the condition of meeting the capture workspace requirements, is investigated. The capture range and local stiffness performance of the mechanism are evaluated. An evaluation metric for the influence of the weight of the parallelogram linkage mechanism on the driving parameters is established. The driving characteristics of the Delta-type mechanism suitable for the recovery of hundred-ton-class rockets and the performance indicators of the cushioning mechanism for the annular moving platform are analyzed. The high-load, high-speed capture dynamic performance indicators, the design and metrics of the annular cushioning energy-absorbing moving platform, and the instantaneous switching mechanism of the kinematic pair constructed can provide technical support and reference for the future development of rocket recovery equipment based on parallel mechanisms or multi-link mechanisms.

Key words: reusable rocket, parallel mechanism, rocket recovery mechanism, cushioning mechanism, dynamics simulation

中图分类号:

TG156

徐东来, 郭盛, 许学雷, 靳晓东, 赵福群, 孙振莲, 杨卫杰. 基于空环缓冲动平台的Delta型火箭回收机构设计与分析[J]. 机械工程学报, 2025, 61(21): 168-178.

XU Donglai, GUO Sheng, XU Xuelei, JIN Xiaodong, ZHAO Fuqun, SUN Zhenlian, YANG Weijie. Design and Analysis of a Delta-type Rocket Recovery Mechanism Based on an Annular Cushioning Moving Platform[J]. Journal of Mechanical Engineering, 2025, 61(21): 168-178.

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