CN108639383A - A kind of flexible actuator of intelligence based on distributed flexible structure - Google Patents
A kind of flexible actuator of intelligence based on distributed flexible structure Download PDFInfo
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- CN108639383A CN108639383A CN201810461473.XA CN201810461473A CN108639383A CN 108639383 A CN108639383 A CN 108639383A CN 201810461473 A CN201810461473 A CN 201810461473A CN 108639383 A CN108639383 A CN 108639383A
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- flexible
- flexible hinge
- voice coil
- coil motor
- displacement sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
A kind of flexible actuator of intelligence based on distributed flexible structure, including：Upper flexible hinge (2), strut (3), link block (4), lower flexible hinge (6), upper film spring (7), mover installation lid (9), voice coil motor (10), outer barrel (11), stator installation lid (12), lower film spring (13), displacement sensor measured piece (14), displacement sensor (15), bottom cover (16).After installation is complete, it is exported by the control of the measurement of large range high precision eddy current displacement sensor (15) feedback and big stroke fast-response voice coil motor (10), realizes the vibration isolation of the flexible actuator of intelligence, disturbs to shake and inhibition and be accurately directed to adjust.The flexible actuator of intelligence of the invention can be widely used in spacecraft superhigh precision, ultrastability, super quick control field using double film springs and double-flexibility hinge arrangement form, control accuracy height, favorable expandability.
Description
Technical field
The present invention relates to Spacecraft Control field, more particularly to a kind of flexible actuator of intelligence.
Background technology
In recent years, with very high resolution earth observation, the high steady tracking of space movement target and high-resolution imaging etc.
A series of it is proposed of Future direction demands proposes high requirement to precision, the stability of satellite control system.
The measurement accuracy such as traditional attitude sensor (star quick, gyro) and Measurement bandwidth limitation are limited to, it is traditional
Low bandwidth attitude control system influence to various disturbing moments can not be realized and effectively inhibit in wide frequency domain, and Satellite Attitude is based only upon
State controls to realize that it is very high that the steady technical solution for being directed toward control of the essence of payload has been difficult to meet under prior art conditions
Precision is directed toward and stability contorting requirement；Therefore, it is proposed to install the design scheme of active platform in load and celestial body, pass through actively
The vibration isolation of actuator in platform disturbs to shake and inhibits and be accurately directed to realize the high performance index of load.
However the actuator used at present generally only installs vibrating sensor (such as force snesor, acceleration transducer), because
And only have the function of active vibration isolation, it is accurately directed to regulatory function without having.And in actuator junction using traditional general
Logical hinge (such as flexural pivot and Hooke's hinge) limits the control output accuracy of actuator due to the presence to rub with gap.And with
The continuous increase of satellite load, the quick motor-driven continuous improvement with fast and stable performance, current small stroke active vibration isolation is made
Dynamic device cannot be satisfied application demand.
Based on this, proposes the flexible actuator scheme of intelligence based on distributed flexible structure, pass through flexible (flexibility) component
It realizes high-frequency vibration isolation, disturbs to shake by the realization of the closed loop intelligence active control of sensor and voice coil motor and inhibition and in high precision refer to
To.
Invention content
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art proposes a kind of based on distributed flexible structure
The flexible actuator of intelligence provide the flexible actuator axial rigidity of intelligence using double film springs compared to existing technical method,
And the strict guarantee axial movement of actuator, using double-flexibility hinge, release constraint degree of freedom provides intelligence flexible actuator
It axially moves to and the transmission of platform six-freedom motion is formed by the flexible actuator of multiple intelligence, and pass through big stroke fast-response sound
Motor actuator and large range high precision eddy current sensor are enclosed, realizes the large stroke and high precision control of the flexible actuator of intelligence jointly
System output, while realize the vibration isolation of load, disturb shake inhibition and be accurately directed to, efficiently solve satellite superhigh precision,
Ultrastability, super quick control problem.
The technical solution adopted in the present invention is：A kind of flexible actuator of intelligence based on distributed flexible structure, including：
Upper flexible hinge, strut, link block, lower flexible hinge, upper film spring, limited block, mover installation lid, voice coil motor, outer barrel, stator
Lid, lower film spring, displacement sensor measured piece, displacement sensor, bottom cover are installed；Voice coil motor both ends are separately connected mover installation
Lid, stator installation lid, mover installation lid are connect by central boss with upper film spring inner ring；Mover install lid central boss end with
Lower flexible hinge one end connects；The lower flexible hinge other end is connect by link block with strut one end；The strut other end with it is upper soft
Property the connection of hinge one end, the flexible hinge other end is connected with external structure；Outer barrel one end port is fixed in upper film spring outer ring；It is fixed
Son installation lid is mounted on outer tube inner wall；Stator installs cover rim central axes trepanning, and the newel of displacement sensor measured piece is successively
Across lower film spring inner ring, stator installation lid centre bore, voice coil motor centre bore, lid connection, sensor tested surface are installed with mover
Middle part is fixedly connected with lower film spring inner ring；Lower film spring outer ring is mounted on outer tube inner wall；Displacement sensor is installed on bottom cover；Bottom
Lid is mounted on the outer barrel other end, and is connect with external structure.
The voice coil motor includes voice coil motor mover and voice coil motor stator, open-minded on voice coil motor stator central axes
Hole；Voice coil motor mover is connected with mover installation lid, and voice coil motor stator is fixed on stator installation and covers.
Further include lower flexible hinge position-limiting drum, the lower flexible hinge position-limiting drum of installation outside the lower flexible hinge, under limitation
The hard-over of flexible hinge；Mover install lid central boss end pass through after the end-face central hole of lower flexible hinge position-limiting drum with
Lower flexible hinge one end connects, and is fixed lower flexible hinge position-limiting drum.
Further include upper flexible hinge position-limiting drum, install flexible hinge position-limiting drum outside the upper flexible hinge, in limitation
The hard-over of flexible hinge；Upper flexible hinge is common with external structure and compresses upper flexible hinge position-limiting drum.
The structure type and material identical of the upper flexible hinge and lower flexible hinge, upper flexible hinge and lower flexible hinge
Material be titanium alloy；
The upper film spring and lower film spring structure form and material identical；The material of upper film spring and lower film spring is beryllium-bronze.
The impulse stroke of the voice coil motor is ± 6mm, and maximum output power is 450N, and power output accuracy is 0.02N.
The displacement sensor is eddy current displacement sensor, and measurement range is ± 5mm, and resolution ratio is 0.3 μm；Displacement
Sensor probe center line is overlapped with the intelligence flexible actuator center line, and pop one's head in upper end and displacement sensor measured piece it
Between there are distances.
The displacement sensor measured piece includes tested disk and the newel positioned at tested disc centre, is tested disk
A diameter of displacement sensor probe diameter three times more than, the material of displacement sensor measured piece is aluminium alloy.
Further include limited block, four limited blocks pass through the side wall of outer barrel, are circumferentially uniformly fixed on outer barrel, are used for mover
Installation lid and the limit of voice coil motor mover.
Compared with the prior art, the present invention has the following advantages：
(1) the method for the present invention uses voice coil motor center opening form, and sensor tested surface is passed through by centre bore
Voice coil motor, while ensureing that eddy current displacement sensor and tested surface are located at intelligence flexible actuator central axes, improve intelligence
The measurement of flexible actuator and control accuracy.
(2) the method for the present invention is using the double film spring structure forms of separate type, in addition to the flexible actuator axial rigidity of intelligence is provided,
Also limit the radial motion and relative rotation between voice coil motor mover and stator, when avoiding the flexible actuator work of intelligence by
It is too small in voice coil motor mover and stator gap and collide.
(3) the method for the present invention is using the structure type for adding strut among double-flexibility hinge, by changing the length of strut, into
And change the position that the flexible actuator of intelligence connect hinge with external structure, it is conveniently adjusted the flexible actuator composition master of multiple intelligence
The configuration of moving platform.
(4) the method for the present invention uses the structure type of double-flexibility hinge, increases the radial rigidity of the flexible actuator of intelligence,
The anti-transmitting powered phase mechanical property of the intelligent flexible actuator of significant increase.
Description of the drawings
Fig. 1 is the sectional view of the flexible actuator of present invention intelligence；
Fig. 2 is the composition figure of voice coil motor of the present invention；
Fig. 3 is the schematic diagram of the upper film spring of the present invention；
Fig. 4 is the schematic diagram of lower film spring of the present invention；
Fig. 5 is the axial limiting schematic diagram of the flexible actuator of present invention intelligence；
Fig. 6 is the axial limiting vertical view of the flexible actuator of present invention intelligence；
Fig. 7 is the corner locating schematic diagram of the upper flexible hinge of the present invention；
Fig. 8 is the corner locating schematic diagram of the lower flexible hinge of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment further illustrates present disclosure.
As shown in Fig. 1, Fig. 5, Fig. 6, a kind of flexible actuator of intelligence based on distributed flexible structure, including：Upper flexibility
Hinge position-limiting drum 1, upper flexible hinge 2, strut 3, link block 4, lower flexible hinge position-limiting drum 5, lower flexible hinge 6, upper film spring 7,
Limited block 8, mover installation lid 9, voice coil motor 10, outer barrel 11, stator installation lid 12, lower film spring 13, displacement sensor measured piece
14, displacement sensor 15, bottom cover 16.
As shown in Fig. 2, voice coil motor 10 includes voice coil motor mover 17 and voice coil motor stator 18, and it is fixed in voice coil motor
The through-hole of a diameter of 10mm is opened on sub 18 central axes；The impulse stroke of voice coil motor 10 is ± 6mm, and maximum output power is 450N,
Power output accuracy is 0.02N.
As shown in Figure 7, Figure 8, installed outside upper flexible hinge 2 and lower flexible hinge 6 flexible hinge position-limiting drum 1 and under it is soft
Property hinge position-limiting drum 5, the hard-over of flexible hinge is limited, to protect flexible hinge tired caused by lasting large deformation
It destroys；The structure type and material identical of the upper flexible hinge 2 and lower flexible hinge 6；By adjusting corner locating distance
S limits the hard-over of flexible hinge while so that it is met actuator normal work corner；In the design, s=2mm.
Upper flexible hinge 2 and lower flexible hinge 6 require high axial rigidity and shearing rigidity and small bending stiffness and torsion stiffness.
By making the bending stiffness of cylinder decline to a great extent the wire cutting of cylinder, and the Stiffness in remaining direction is less, makes
It is much smaller than the rigidity in remaining direction along the rotational stiffness of vertical axial.Virtual axle is can guarantee by the design in wire cutting path
It is overlapped with flexible hinge chain design shaft.Upper flexible hinge 2 and lower flexible hinge 6 should select elasticity modulus smaller as possible and surrender
The larger material of the limit.The bending stiffness of upper flexible hinge 2 and lower flexible hinge 6 is 60Nm/rad in the present embodiment；Upper flexibility
The material of hinge 2 and lower flexible hinge 6 is titanium alloy.
As shown in Figure 3, Figure 4, upper film spring 7 is transported by upper film spring inner ring 19 and upper film spring outer ring 20 with the flexible actuator of intelligence
Dynamic part is connected with fixed part；Lower film spring 13 passes through lower film spring inner ring 21 and lower film spring outer ring 22 and the flexible actuator of intelligence
Motion parts are connected with fixed part, and upper film spring 7 and the cooperation limitation voice coil motor of lower film spring 13 mover 17 and voice coil electricity
Radial motion between machine stator 18 and relative rotation；The structure type and material identical of upper film spring 7 and lower film spring 13, by setting
The axial rigidity for counting monolithic membrane spring realizes the axial rigidity of actuator, and the axial rigidity of monolithic membrane spring is 15N/mm in the design；
The material of film spring used is beryllium-bronze.
The displacement sensor 15 is eddy current displacement sensor, and measurement range is ± 5mm, and resolution ratio is 0.3 μm；Institute
The displacement sensor measured piece 14 stated includes tested disk and the newel positioned at tested disc centre, is tested a diameter of of disk
More than the three times of 15 probe diameter of displacement sensor, the material of displacement sensor measured piece is aluminium alloy.
The axial direction of the limited block 8, mover installation lid 9, the flexible actuator of the combination realization intelligence of voice coil motor mover 17
Limit.As shown, by adjusting axial limiting distance d, while so that it is met actuator normal axial stroke, start is limited
The maximum axial stroke of device, to protect displacement sensor probe, voice coil motor mover and voice coil motor stator is avoided mutually to collide；
The d=5mm in the design.
The type of attachment of the flexible actuator of intelligence is with operation principle：Voice coil motor mover 13 installs lid 9 with mover
It is connected, mover installation lid 9 is connect by screw with upper film spring inner ring 19；Mover installs 9 threaded upper ends of lid and passes through lower flexible hinge
Position-limiting drum 5 is simultaneously connect by upper external screw thread with 6 lower end internal thread hole of lower flexible hinge, and is fixed lower flexible hinge limit
Cylinder 5；Lower 6 upper end of flexible hinge is connect by the external screw thread of link block 4 with 3 lower end of strut；3 upper external screw thread of strut and upper flexibility
2 lower end internal thread hole connection of hinge, 2 upper end of flexible hinge is connected by internal thread hole with external structure, and is compressed simultaneously
Flexible hinge position-limiting drum 1；Upper film spring outer ring 20 is fixed on outer barrel 11 by screw；Four limited blocks 8 pass through outer barrel 11
Side wall, and be fixed on outer barrel 11 by screw；Voice coil motor stator 18 is fixed on stator by screw to be installed on lid 12, stator
Lid 12 is installed to be connected by circumferential threaded hole and the screw across 11 side wall of outer barrel, stator installation lid 12 is fixed on outer barrel 11
On side wall；Stator installs 12 central axes trepanning of lid, and displacement sensor measured piece 14 passes through lower film spring inner ring 22,12 center of installation lid
Hole, 10 centre bore of voice coil motor are installed 12 lower end internal thread hole of lid with mover by upper external screw thread and are fixedly connected, and sense
14 lower end of device tested surface is fixedly connected with lower film spring inner ring 21 by screw；Outer barrel 11 is fixed in lower film spring outer ring 22 by screw
Bottom end；Displacement sensor 15 is installed on by screw on bottom cover, and ensures 15 center probe line of displacement sensor and entire intelligence
Flexible actuator center line overlaps, and upper end range sensor tested surface 14 of popping one's head in is apart from for 6mm；Outer barrel 11 and bottom cover 16 pass through
Screw is connect with external structure；Mover installation lid 9, upper film spring inner ring 19, the lower flexible hinge being connect with voice coil motor mover 17
6, lower flexible hinge position-limiting drum 5, link block 4, strut 3, upper flexible hinge 2, upper flexible hinge position-limiting drum 1 and displacement sensor
Measured piece 14, lower film spring inner ring 21 collectively constitute the motion parts of the flexible actuator of intelligence, are connect with voice coil motor stator 18
Stator installation lid 12, upper film spring outer ring 20, lower film spring outer ring 22, outer barrel 11, bottom cover 16, displacement sensor 15 collectively constitute intelligence
The fixed part of flexible actuator.It can accurately measure and be located at positioned at the displacement sensor 15 of the flexible actuator fixed part of intelligence
The relative motion displacement of the displacement sensor measured piece 14 of intelligence flexibility actuator motion parts, when the flexible actuator of intelligence is realized
When being moved to target location, control algolithm can be designed, such as by the deviation of displacement sensor 15 measurement result and target location
Pid control algorithm, and then by controller and voice coil motor driver output current, driving voice coil motor generates control force, makes
Motion parts are moved in a straight line relative to fixed part, reach target location.After installation is complete, pass through large range high precision electricity whirlpool
The control of the measurement and big stroke fast-response voice coil motor 10 of flowing displacement sensor 15 exports, and realizes the big of the flexible actuator of intelligence
Stroke and high precision exports, the displacement sensor ranging from ± 5mm, and resolution ratio is 0.3 μm.The voice coil motor work
It is ± 6mm to make stroke, and maximum output power is 450N, and power output accuracy is 0.02N.
The flexible actuator of present invention intelligence is installed in such a way that multiple actuator are in parallel between satellite body and load,
With this realize the vibration isolation of load, disturb shake inhibition and be accurately directed to adjust.
The content that description in the present invention is not described in detail belongs to the known technology of those skilled in the art.
Claims (10)
1. a kind of flexible actuator of intelligence based on distributed flexible structure, which is characterized in that including：Upper flexible hinge (2), branch
Bar (3), link block (4), lower flexible hinge (6), upper film spring (7), limited block (8), mover installation lid (9), voice coil motor (10),
Outer barrel (11), stator installation lid (12), lower film spring (13), displacement sensor measured piece (14), displacement sensor (15), bottom cover
(16)；Voice coil motor (10) both ends are separately connected mover installation lid (9), stator installation lid (12), during mover installation lid (9) passes through
Cardiac prominence platform is connect with upper film spring inner ring (19)；Mover installation lid (9) central boss end is connect with lower flexible hinge (6) one end；
Lower flexible hinge (6) other end is connect by link block (4) with strut (3) one end；Strut (3) other end and upper flexible hinge
(2) one end connects, and flexible hinge (2) other end is connected with external structure；Outer barrel (11) one is fixed in upper film spring outer ring (20)
Hold port；Stator installation lid (12) is mounted on outer barrel (11) inner wall；Stator installation lid (12) is along central axes trepanning, displacement sensing
The newel of device measured piece (14) sequentially passes through lower film spring inner ring (22), stator installation lid (12) centre bore, voice coil motor (10)
Centre bore is installed lid (12) with mover and is connect, is fixedly connected with lower film spring inner ring (21) in the middle part of sensor tested surface (14)；Lower film
Spring outer ring (22) is mounted on outer barrel (11) inner wall；Displacement sensor (15) is installed on bottom cover (16)；Bottom cover (16) is mounted on
Outer barrel (11) other end, and connect with external structure.
2. the flexible actuator of a kind of intelligence based on distributed flexible structure according to claim 1, it is characterised in that：Institute
It includes voice coil motor mover (17) and voice coil motor stator (18) to state voice coil motor (10), on voice coil motor stator (18) central axes
Open hole；Voice coil motor mover (13) installs lid (9) with mover and is connected, and voice coil motor stator (18) is fixed on stator installation lid
(12) on.
3. the flexible actuator of a kind of intelligence based on distributed flexible structure according to claim 1 or 2, feature exist
In：Further include lower flexible hinge position-limiting drum (5), the lower flexible hinge position-limiting drum (5) of installation, limit outside the lower flexible hinge (6)
The hard-over of the lower flexible hinge (6) of system；Mover installation lid (9) central boss end passes through lower flexible hinge position-limiting drum (5)
It is connect with lower flexible hinge (6) one end after end-face central hole, and is fixed lower flexible hinge position-limiting drum (5).
4. the flexible actuator of a kind of intelligence based on distributed flexible structure according to claim 3, it is characterised in that：Also
Including upper flexible hinge position-limiting drum (1), flexible hinge position-limiting drum (1) is installed outside the upper flexible hinge (2), it is soft in limitation
The hard-over of property hinge (6)；Upper flexible hinge (2) is common with external structure and compresses upper flexible hinge position-limiting drum (1).
5. the flexible actuator of a kind of intelligence based on distributed flexible structure according to claim 1 or 2, feature exist
In：The structure type and material identical of the upper flexible hinge (2) and lower flexible hinge (6), upper flexible hinge (2) and lower flexibility
The material of hinge (6) is titanium alloy；
6. the flexible actuator of a kind of intelligence based on distributed flexible structure according to claim 1 or 2, feature exist
In：The upper film spring (7) and lower film spring (13) structure type and material identical；The material of upper film spring (7) and lower film spring (13) is
Beryllium-bronze.
7. the flexible actuator of a kind of intelligence based on distributed flexible structure according to claim 2, it is characterised in that：Institute
The impulse stroke for the voice coil motor (10) stated is ± 6mm, and maximum output power is 450N, and power output accuracy is 0.02N.
8. the flexible actuator of a kind of intelligence based on distributed flexible structure according to claim 1 or 2, feature exist
In：The displacement sensor (5) is eddy current displacement sensor, and measurement range is ± 5mm, and resolution ratio is 0.3 μm；Displacement passes
Sensor (15) center probe line is overlapped with the flexible actuator center line of the intelligence, and pop one's head in upper end and displacement sensor measured piece
(14) there are distances between.
9. the flexible actuator of a kind of intelligence based on distributed flexible structure according to claim 1 or 2, feature exist
In：The displacement sensor measured piece (4) includes tested disk and the newel positioned at tested disc centre, is tested disk
More than the three times of a diameter of displacement sensor (5) probe diameter, the material of displacement sensor measured piece (4) is aluminium alloy.
10. the flexible actuator of a kind of intelligence based on distributed flexible structure according to claim 1 or 2, feature exist
In：Further include limited block (8), four limited blocks (8) pass through the side wall of outer barrel (11), are circumferentially uniformly fixed on outer barrel (11)
On, for mover installation lid (9) and voice coil motor mover (17) limit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810461473.XA CN108639383B (en) | 2018-05-15 | 2018-05-15 | Intelligent flexible actuator based on distributed flexible structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810461473.XA CN108639383B (en) | 2018-05-15 | 2018-05-15 | Intelligent flexible actuator based on distributed flexible structure |
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| Publication Number | Publication Date |
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| CN108639383A true CN108639383A (en) | 2018-10-12 |
| CN108639383B CN108639383B (en) | 2020-03-24 |
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ID=63755643
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| CN201810461473.XA Active CN108639383B (en) | 2018-05-15 | 2018-05-15 | Intelligent flexible actuator based on distributed flexible structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111791079A (en) * | 2020-05-22 | 2020-10-20 | 浙江大学 | Electromagnetic driving type quick cutter servo system based on flexible hinge combined mechanism |
| CN112046790A (en) * | 2020-07-27 | 2020-12-08 | 北京空间飞行器总体设计部 | Variable-rigidity large-bearing vibration isolator suitable for vibration isolation of satellite equipment |
| CN112100733A (en) * | 2020-07-23 | 2020-12-18 | 北京控制工程研究所 | Main and passive integrated flexible actuator flexible link and actuation unit integrated stress balancing method based on three-super control |
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| CN102820761A (en) * | 2012-07-30 | 2012-12-12 | 北京航空航天大学 | Voice coil actuator based on non-linear membrane spring |
| US20130082546A1 (en) * | 2011-09-30 | 2013-04-04 | Samsung Electro-Mechanics Co., Ltd. | Linear vibration motor |
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| JP2003278830A (en) * | 2002-01-15 | 2003-10-02 | Mitsubishi Heavy Ind Ltd | Rotor stabilizer |
| US6896441B1 (en) * | 2002-08-14 | 2005-05-24 | Lockheed Martin Corporation | Automated latching device with active damping |
| CN101404437A (en) * | 2008-11-11 | 2009-04-08 | 天津三星电机有限公司 | Linear vibration motor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111791079A (en) * | 2020-05-22 | 2020-10-20 | 浙江大学 | Electromagnetic driving type quick cutter servo system based on flexible hinge combined mechanism |
| CN112100733A (en) * | 2020-07-23 | 2020-12-18 | 北京控制工程研究所 | Main and passive integrated flexible actuator flexible link and actuation unit integrated stress balancing method based on three-super control |
| CN112100733B (en) * | 2020-07-23 | 2023-08-29 | 北京控制工程研究所 | Main and passive integrated flexible actuator flexible link and actuating unit integrated stress balancing method based on three-super control |
| CN112046790A (en) * | 2020-07-27 | 2020-12-08 | 北京空间飞行器总体设计部 | Variable-rigidity large-bearing vibration isolator suitable for vibration isolation of satellite equipment |
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|---|---|
| CN108639383B (en) | 2020-03-24 |
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