一种垂直起降运载器支腿构型设计与尺度优化

doi:10.3901/JME.2021.15.033

机械工程学报 ›› 2021, Vol. 57 ›› Issue (15): 33-44.doi: 10.3901/JME.2021.15.033

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一种垂直起降运载器支腿构型设计与尺度优化

田保林, 于海涛, 高海波, 刘振, 于红英, 邓宗全

哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150080

收稿日期:2020-09-03 修回日期:2020-11-20 出版日期:2021-08-05 发布日期:2021-11-03
通讯作者: 于海涛(通信作者),男,1984年出生,博士,副研究员。主要研究方向为机器人技术、宇航空间机构与控制。E-mail:yht@hit.edu.cn
作者简介:田保林,男,1995年出生,博士研究生。主要研究方向为宇航空间机构及控制。E-mail:19b908094@stu.hit.edu.cn
基金资助:
“111”创新引智计划（B07018）、国家自然科学基金创新研究群体（51521003）和中央高校基本科研业务费专项基金（HIT.NSRIF.201833）资助项目。

Configuration Design and Scale Optimization of the Support Legs of a Vertical Take-off and Landing Vehicle

TIAN Baolin, YU Haitao, GAO Haibo, LIU Zhen, YU Hongying, DENG Zongquan

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001

Received:2020-09-03 Revised:2020-11-20 Online:2021-08-05 Published:2021-11-03

摘要/Abstract

摘要： 实现垂直起降运载器可重复使用是大幅降低发射成本的重要途径。运载器在完成发射任务返回着陆场后，依次执行着陆支腿展开、锁定及落地缓冲以实现平稳软着陆。针对运载器着陆支腿构型，以图论分析为切入点，确立了多种单自由度支腿展开方案，依据基于动力学模型计算机构性能的评判指标，完成支撑构型方案优选。在此基础上建立支腿尺度参数化模型并推导着陆极限工况下的杆件受力方程，以支腿轻量化和改善铰链受力为目标，对支腿结构参数进行优化。最后完成了机构方案设计并对着陆支腿强度、模态及着陆性能进行分析。仿真结果表明，优化结果及力学性能满足工程使用需要。研究成果可为未来重复使用运载器的研制提供方案参考和技术支持。

关键词: 运载器回收, 构型设计, 尺度优化, 动力学分析

Abstract: Realizing the reusability of the vertical take-off and landing vehicle is an important way to significantly reduce the launch cost. After completing the launch mission and returning to the landing site, the vehicle successively executes outrigger deploying, locking, and landing cushioning to achieve smooth and soft landing. For the configuration of the outrigger of the vehicle, a collection of single-degree-of-freedom deployment schemes are established from the perspective of graph theory. According to the evaluation specification of mechanism based on dynamic model calculation, the optimal scheme of support configuration is selected. On this basis, a parametric model of the outrigger scale is established and the force equations of the links under the limit landing conditions are derived. To lighten the outrigger and improve the force of the hinge, the structural parameters of the outrigger are optimized. Finally, the mechanism scheme is devised. The strength, modal, and landing performance of the outrigger are also analyzed. Simulation results show that the optimization results and mechanical properties meet the requirements of engineering application. The research results can provide reference scheme and technical support for the future development of the reusable vehicle.

Key words: vehicle recovery, configuration design, scale optimization, dynamic analysis

中图分类号:

V423

田保林, 于海涛, 高海波, 刘振, 于红英, 邓宗全. 一种垂直起降运载器支腿构型设计与尺度优化[J]. 机械工程学报, 2021, 57(15): 33-44.

TIAN Baolin, YU Haitao, GAO Haibo, LIU Zhen, YU Hongying, DENG Zongquan. Configuration Design and Scale Optimization of the Support Legs of a Vertical Take-off and Landing Vehicle[J]. Journal of Mechanical Engineering, 2021, 57(15): 33-44.

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一种垂直起降运载器支腿构型设计与尺度优化

Configuration Design and Scale Optimization of the Support Legs of a Vertical Take-off and Landing Vehicle

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