CN107719709B - A kind of space junk removes system configuration and its design method - Google Patents
A kind of space junk removes system configuration and its design method Download PDFInfo
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- CN107719709B CN107719709B CN201710860432.3A CN201710860432A CN107719709B CN 107719709 B CN107719709 B CN 107719709B CN 201710860432 A CN201710860432 A CN 201710860432A CN 107719709 B CN107719709 B CN 107719709B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract
The present invention provides a kind of space junk and removes system configuration and its design method, and structure is simple, and rationally, compact is easy to operate, and working range is big, easy to control for design.Above-mentioned removing system configuration includes the pedestal of six degree of freedom, symmetrically arranged solar array on pedestal, the first telescopic rod moved along pedestal perpendicular to solar array direction, the second telescopic rod being nested in inside the first telescopic rod, it can be around the first joint that telescopic rod axis direction rotates, third joint and end break catching apparatus around the second joint rotated perpendicular to the first joint axis direction, around the rotation of second joint axis direction.Its design method includes: to establish space junk to remove system, and establish threedimensional model, carries out Dynamic Modeling, removes system to the space junk proposed and carry out trajectory planning for arresting task；According to obtained trajectory planning, the virtual reality emulation to whole system is completed, clarifying space fragment removes the correctness of system, completes the design of configuration.
Description
Technical field
The present invention relates to the structure design that space junk removes system, specially a kind of space junk remove system configuration and
Its design method.
Background technique
The quantity of space junk can be fast and effeciently reduced using active fragment clearance technique.Space junk is removed
System, the U.S., Europe and Japanology starting are more early, it has been suggested that respective fragment cleaning scheme, Some Key Technologies have been carried out
In-orbit demonstration and verification.
In August, 2010, US Department of Defense Advanced Research Projects Agency (DARPA) disclose the space junk developed and remove
Technology demonstration project --- electronic fragment remover (EDDE).Japan Aerospace Exploration and Development Agency (JAXA) is being ground
Study carefully microsatellite system --- the miniature remover of space junk (SDMR) that a kind of demonstration and verification actively removes space junk technology.
Target is captured using mechanical arm, then fixed Electrodynamic tether on the robotic arm is unfolded, automatically adjusts hawser inclination, with control
Controlling push-force simultaneously avoids hawser unstability, carries fragment and leaves the right or normal track.2010, German braking rocket space (RetroSpace) company proposed
" braking rocket star (RetroSats) " scheme
System is removed for specific, many documents have been studied.Existing space junk is removed system and is mainly wrapped
Include that rigid connection formula is arrested, flexible connection formula is arrested, contactless removing method and other new methods.It is in the prior art
Various space junks removing system configurations are relatively complicated, and stability is relatively low, in addition the limitation of technology itself, civilian
The removing of the space junk of aspect is difficult to carry out.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of space junk and removes system configuration and its design side
Method, structure is simple, and rationally, compact is easy to operate, and working range is big, easy to control for design.
The present invention is to be achieved through the following technical solutions:
A kind of space junk removes system configuration, the pedestal including six degree of freedom, symmetrically arranged solar array on pedestal,
The first telescopic rod moved along pedestal perpendicular to solar array direction, the second telescopic rod being nested in inside the first telescopic rod, energy
It is enough to be closed around the second joint rotated perpendicular to the first joint axis direction around second around the first joint that telescopic rod axis direction rotates
The third joint of nodal axisn direction rotation and end break catching apparatus；
The end break catching apparatus is made of four pawls being respectively hinged on third joint, each pawl can by three
The connecting rod of self-movement successively hingedly forms, and each connecting rod is able in the direction rotation perpendicular to connecting rod, each pawl
The hinged axis direction of connecting rod is arranged in parallel.
Preferably, each pawl is made of successively hinged first connecting rod, second connecting rod and third connecting rod, first connecting rod
Length is equal to the length summation in the first joint, second joint and third joint.
Further, it carves at the beginning, the first telescopic rod is shunk in base interior, and the second telescopic rod is located at the first telescopic rod
Inside, each pawl are attached at the first joint, second joint and third joint, and the part of each pawl closes at the first telescopic rod
It is internal.
Further, in the initial state, the second connecting rod of each pawl and third connecting rod are located in the first telescopic rod
Portion.
Preferably, the first telescopic rod, the second telescopic rod, the first joint, second joint and the maximum total length in third joint
For 5.2m.
Preferably, the third joint is arranged in octagon plate, grabs for four and is symmetricly set on octagonal four sides
On, remaining four side is arranged in the arc of invagination.
A kind of space junk removes the design method of system configuration, including,
Step 1 establishes above-mentioned any one space junk such as and removes system, and establishes threedimensional model to it；
Step 2 removes system to the space junk proposed and carries out Dynamic Modeling；
Step 3 removes system to the space junk proposed and carries out track for arresting task according to kinetic model
Planning；
Step 4, according to obtained trajectory planning, is completed to entire system based on the tool box VR of simulink in matlab
The virtual reality emulation of system, the space junk for verifying foundation remove the correctness of system, complete space junk and remove system configuration
Design.
Preferably, in step 1, the threedimensional model that space junk removes system is established using CATIA.
Preferably, in step 2, coordinate system transformational relation is described using D-H representation, is built based on lagrangian dynamics
Mould method establishes space junk and removes system dynamics model are as follows:
In formula, B is inertia item, and q is generalized coordinates, and C is Coriolis and centripetal force item, and G is gravity item, and τ is generalized force.
Preferably, in step 3, when carrying out trajectory planning,
3.1 obtain removing system end coordinate origin position by forward kinematics equation；
3.2 after obtaining terminal position, by Analytic Method inverse kinematics equation, obtains corresponding articulation amount；
3.3 based on obtained corresponding articulation amount, in joint space, carries out trajectory planning using quintic algebra curve.
Compared with prior art, the invention has the following beneficial technical effects:
A kind of space junk of the present invention removes the configuration of system, and the active for space junk is removed, using space mechanism
Arm is arrested, and by the setting of two-stage telescopic rod, can greatly reduce transmitting volume, while not influencing the work of other function
With and setting, using different motion freedom degree joint be arranged, the control and realization of various angles can be completed, pass through three-link
The setting of pawl ensure that the reliable and stable removing to capture target.
Further, two connecting rods are retracted in satellite pedestal by telescopic rod, preferably reduce volume, met
Emit volume constraint.
Further, by the setting to all parts relationship, work requirements are not only met, but also improve system
Work space.
The method of the present invention that is related to can give rail for different task for space junk removing system configuration
Mark planing method, and by carrying out vision simulation based on virtual reality, guarantee that system can be very good to complete to space junk
Arrest.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that space junk described in present example removes system configuration.
Fig. 2 is the enlarged drawing that space junk described in present example removes system configuration joint.
Fig. 3 is the enlarged drawing at the removing system configuration pawl of space junk described in present example.
Fig. 4 is the structural schematic diagram that space junk described in present example removes system configuration third joint.
Fig. 5 is the initial of system in the removing system configuration progress virtual reality emulation of space junk described in present example
State.
Fig. 6 is that system arrests mesh in the removing system configuration progress virtual reality emulation of space junk described in present example
State after mark.
In figure, pedestal 1, solar array 2, the first telescopic rod 3, the second telescopic rod 4, the first joint 5, second joint 6, third
Joint 7, first connecting rod 8, second connecting rod 9, third connecting rod 10.
Specific embodiment
Below with reference to specific embodiment, the present invention is described in further detail, it is described be explanation of the invention and
It is not to limit.
A kind of space junk of the present invention, which removes system configuration, can effectively complete task by feasibility analysis.It is described
Space junk remove system configuration, there are 17 freedom degrees in addition to pedestal, while pedestal can move freely, including along three
The translation of axis and rotation around three axis.Therefore system shares 23 freedom degrees.
As Figure 1-Figure 4, it includes: six degree of freedom pedestal 1 that the space junk, which removes system configuration, is hung down along pedestal 1
Directly in the first telescopic rod 3 of 2 direction of solar array movement, the second telescopic rod 4 being nested in inside the first telescopic rod 3 can be around
First joint 5 of telescopic rod axis of orientation rotation, around the second joint 6 rotated perpendicular to 5 axis direction of the first joint, around second joint
The third joint 7 of 6 axis directions rotation, and the end break catching apparatus being connected on third joint 7.Wherein end break catching apparatus by
Four pawl compositions, each pawl are made of three connecting rods, can be rotated around the direction perpendicular to bar, be grasped respectively to fragment.
Each connecting rod of pawl can self-movement.
Size used by each component is as follows: in system of the present invention
| Component names | Size |
| Pedestal (only considers main part) | 2.2m×1.6m |
| First telescopic rod | R0.14m×L2m |
| Second telescopic rod | R0.06m×L1.8m |
| First joint | L0.2m |
| Second joint | L0.18m |
| Third joint | L0.02m |
| First connecting rod | L0.4m |
| Second connecting rod | L0.4m |
| Third connecting rod | L0.4m |
It carves at the beginning, as shown in Figure 1, the first telescopic rod 3 is shunk inside satellite pedestal 1, the second telescopic rod 4 is located at the
Inside one telescopic rod 3, while each group of pawl is attached at the first joint 5, second joint 6 and third joint 7, partially closes at first and stretches
Inside contracting bar 3.In selected each part length, when original state, second connecting rod 9 and third connecting rod 10 are placed exactly in
Inside first telescopic rod 3, the length of first connecting rod 8 and the first joint 5, second joint 6 are identical with 7 total length of third joint.
As shown in figure 4, third joint 7 is arranged in octagon plate, grabs for four and is symmetricly set on octagonal four sides,
Remaining four side is arranged in the arc of invagination.
Space junk of the present invention, which is removed, uses telescopic rod in system configuration, distance objective maximum distance is reachable
5.2m。
It is included the following steps, namely when specifically being designed.
Step 1 establishes space junk as described above and removes system, and establishes space junk using CATIA and remove system
Threedimensional model；
Step 2 describes coordinate system transformational relation using D-H representation, is established based on lagrangian dynamics modeling method
System dynamics,
In formula, B is inertia item, and q is generalized coordinates, and C is Coriolis and centripetal force item, and G is gravity item, and τ is generalized force.
In space, gravity item can be ignored.
Step 3 is by the available removing system end coordinate origin position p of forward kinematics equation,
Wherein d1 is the distance of stretch out and draw back of the first telescopic rod, and d2 is the distance of stretch out and draw back of the second telescopic rod, θ1For the rotation of the first joint
Gyration, θ2Angle is rotated for second joint.(px, py, pz) it is respectively ending coordinates system origin in x, y, the direction z coordinate.
Terminal position is provided on the basis of known inverse kinematics equation by Analytic Method inverse kinematics equation, is led to
Cross solution inverse kinematics equation, so that it may obtain corresponding articulation amount.In joint space, track is carried out using quintic algebra curve
Planning.
Further, in step 4, made using the tool box VR of simulink in matlab for simply task is arrested
With the track of planning, the virtual reality emulation of system is realized.
In actual design, such as Fig. 5 and Fig. 6, system dynamic modeling and track are removed for designed space junk
Program results are as follows.
The inertial parameter of system is chosen as follows:
Simulation result is compared with ADAMS, and terminal position change in displacement is essentially identical, can illustrate mould to a certain extent
The correctness of type.
Given end desired locations (4.7,0.1,0.1) emulated by matlab can be calculated corresponding articulation amount and
Velocity and acceleration.Available by emulating image, the equal very little of speed and acceleration value of each articulation amount meets practical feelings
Condition.Using quintic algebra curve planned trajectory, acceleration can be prevented to be mutated.
Claims (8)
1. a kind of space junk removes system configuration, which is characterized in that the pedestal (1) including six degree of freedom, it is symmetrical on pedestal (1)
The solar array (2) of setting, the first telescopic rod (3) moved along pedestal (1) perpendicular to solar array (2) direction are nested in
Internal the second telescopic rod (4) of one telescopic rod (3), can be around the first joint (5) that telescopic rod axis direction rotates, around perpendicular to the
The second joint (6) of one joint (5) axis direction rotation, around the third joint (7) of second joint (6) axis direction rotation, Yi Jimo
Hold break catching apparatus；
The end break catching apparatus is made of four pawls being respectively hinged on third joint (7), each pawl can by three
The connecting rod of self-movement successively hingedly forms, and each connecting rod is able in the direction rotation perpendicular to connecting rod, each pawl
The hinged axis direction of connecting rod is arranged in parallel；
Each pawl is made of successively hinged first connecting rod (8), second connecting rod (9) and third connecting rod (10), first connecting rod (9)
Length be equal to the first joint (5), second joint (6) and third joint (7) length summation；
It carves at the beginning, the first telescopic rod (3) is shunk in pedestal (1) inside, and the second telescopic rod (4) is located at the first telescopic rod (3)
Inside, each pawl are attached at the first joint (5), second joint (6) and third joint (7), the part of each pawl and close at
First telescopic rod (3) is internal.
2. a kind of space junk according to claim 1 removes system configuration, which is characterized in that in the initial state, often
It is internal that the second connecting rod (9) and third connecting rod (10) of one pawl are located at the first telescopic rod (3).
3. a kind of space junk according to claim 1 removes system configuration, which is characterized in that the first telescopic rod (3), the
Two telescopic rods (4), the first joint (5), second joint (6) and third joint (7) maximum total length be 5.2m.
4. a kind of space junk according to claim 1 removes system configuration, which is characterized in that the third joint is in
The setting of octagon plate, grabs for four and is symmetricly set on octagonal four sides, remaining four side is arranged in the arc of invagination.
5. the design method that a kind of space junk removes system configuration, which is characterized in that including,
Step 1 establishes the space junk as described in claim 1-4 any one and removes system, and establishes three-dimensional mould to it
Type；
Step 2 removes system to the space junk proposed and carries out Dynamic Modeling；
Step 3 removes system to the space junk proposed and carries out trajectory planning for arresting task according to kinetic model；
Step 4 is completed according to obtained trajectory planning to whole system based on the tool box VR of simulink in matlab
Virtual reality emulation, the space junk for verifying foundation remove the correctness of system, complete space junk and remove setting for system configuration
Meter.
6. the design method that a kind of space junk according to claim 5 removes system configuration, which is characterized in that step 1
In, the threedimensional model that space junk removes system is established using CATIA.
7. the design method that a kind of space junk according to claim 5 removes system configuration, which is characterized in that step 2
In, coordinate system transformational relation is described using D-H representation, space junk is established based on lagrangian dynamics modeling method and is removed
System dynamics model are as follows:
In formula, B is inertia item, and q is generalized coordinates, and C is Coriolis and centripetal force item, and G is gravity item, and τ is generalized force.
8. the design method that a kind of space junk according to claim 5 removes system configuration, which is characterized in that step 3
In, when carrying out trajectory planning,
3.1 obtain removing system end coordinate origin position by forward kinematics equation；
3.2 after obtaining terminal position, by Analytic Method inverse kinematics equation, obtains corresponding articulation amount；
3.3 based on obtained corresponding articulation amount, in joint space, carries out trajectory planning using quintic algebra curve.
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| CN108820265B (en) * | 2018-07-09 | 2023-10-03 | 河北工业大学 | Flexible end effector for racemization of space debris |
| CN110751886B (en) * | 2019-09-18 | 2021-12-07 | 上海航天控制技术研究所 | Rope system dragging control ground test verification method and system |
| CN113148245B (en) * | 2021-05-13 | 2022-05-31 | 哈尔滨工业大学 | End effector capable of repeatedly grabbing large space debris |
| CN113581502B (en) * | 2021-08-11 | 2023-05-26 | 哈尔滨工业大学 | On-orbit assembly method of ultra-large space telescope based on multi-space robot system |
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| DE19525359C1 (en) * | 1995-07-12 | 1996-06-05 | Daimler Benz Aerospace Ag | Device for handling loads outside space vehicle |
| JP2003305681A (en) * | 2002-04-15 | 2003-10-28 | Mitsubishi Heavy Ind Ltd | Robot hand |
| US8979034B2 (en) * | 2011-12-06 | 2015-03-17 | Altius Space Machines | Sticky boom non-cooperative capture device |
| CN202574633U (en) * | 2012-04-17 | 2012-12-05 | 中国航天科技集团公司第五研究院第五一八研究所 | Large high-precision large-inertia rotating and assembling mechanical arm system |
| CN205854540U (en) * | 2016-07-04 | 2017-01-04 | 西北工业大学 | A kind of encircle the device arresting space junk |
| CN106428632B (en) * | 2016-09-30 | 2018-11-20 | 西北工业大学 | A kind of big envelope capturing system of the space junk that mechanical arm can pop up |
| CN106882402B (en) * | 2017-01-20 | 2018-12-21 | 北京空间飞行器总体设计部 | A kind of capture racemization mechanism suitable for spin space fragment |
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