CN111392075A - Ground simulation experiment system for despin and capture of space non-cooperative target - Google Patents
Ground simulation experiment system for despin and capture of space non-cooperative target Download PDFInfo
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- CN111392075A CN111392075A CN202010335093.9A CN202010335093A CN111392075A CN 111392075 A CN111392075 A CN 111392075A CN 202010335093 A CN202010335093 A CN 202010335093A CN 111392075 A CN111392075 A CN 111392075A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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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
Abstract
The invention discloses a ground simulation experiment system for despinning and capturing of a space non-cooperative target. In addition, the experiment system carries out mechanical impact racemization on the target through two arms, the two force actions form couple moment, the non-cooperative target cannot be translated, and the racemization efficiency is improved. And finally, capturing is carried out through a mechanical paw, and despinning and capturing of non-cooperative targets in the space are completely simulated. The whole experiment system is simple in structure, convenient to operate and convenient to install.
Description
Technical Field
The invention relates to the technical field of spatial non-cooperative target racemization and capture, in particular to a ground simulation experiment system for spatial non-cooperative target racemization and capture.
Background
With the continuous development of human aerospace industry and the increasing frequency of aerospace activities, the number of spacecrafts operating in orbit and various space targets is continuously increased. In space, due to the fact that a spacecraft is out of control or completely fails and the rocket tail stage remains after the rocket is launched, a plurality of artificial large space fragments are generated, collision of the large space fragments can continuously generate collision derivatives, fragment clouds are formed around the collision derivatives, the near-earth space environment is increasingly worsened, and great threat is brought to orbital safety. Therefore, the development of the task of despin and capturing the non-cooperative target in the space is of great significance, but due to the technical limitation at present, the on-orbit capturing method aiming at the non-cooperative target in the space cannot perform space experiments, so that the despin and capturing of the non-cooperative target need to be simulated by a ground experiment system.
The mechanical pulse type space debris active despinning experimental system comprises a space debris simulation mechanism and a despinning mechanism, and realizes the simulation and despinning of the space debris, but the experimental system does not realize the floating simulation of the space for a mechanical arm and does not carry out the capturing of a despinned target, and the requirement of subsequent capturing simulation cannot be met.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a ground simulation experiment system for racemization and capture of a space non-cooperative target.
The technical scheme adopted by the invention for solving the technical problems is that a ground simulation experiment system for despinning and capturing of a space non-cooperative target is designed, the experiment system comprises a space non-cooperative target simulation mechanism, a floating base mechanical arm mechanism, a despinning tail end and a capturing tail end, and the ground simulation experiment system is characterized in that: three floating base mechanical arm mechanisms are arranged on the periphery of a space non-cooperative target simulation mechanism, wherein a despin tail end is arranged on two symmetrically arranged floating base mechanical arm mechanisms, the two despin tail ends are oppositely arranged, and a capture tail end is arranged on the other floating base mechanical arm mechanism;
the space non-cooperative target simulation mechanism comprises a regular dodecahedron simulation shell, a shell counterweight module, an air-floating ball bearing, a simulation mechanism air cylinder, a simulation mechanism first platform, a central rotating shaft, a simulation mechanism second platform, a simulation mechanism supporting rod, a simulation mechanism air cylinder, a simulation mechanism motor, a simulation mechanism third platform, a simulation mechanism bottom counterweight and a simulation mechanism air foot; the interior of the regular dodecahedron simulation shell is hollow, the upper surface and the lower surface of the regular dodecahedron simulation shell are two horizontal planes, the air floatation ball bearing is arranged in the regular dodecahedron simulation shell, and the upper end of the interior of the regular dodecahedron simulation shell is fixedly connected with the upper part of a rotor of the air floatation ball bearing; the shell counterweight module comprises a motor, a screw rod and a counterweight block, the counterweight block is arranged on the screw rod, one end of the screw rod is connected with an output shaft of the motor through a shaft coupling, and the motor is fixed on the upper surface or the lower surface of the surface body simulation shell; the number of the shell counterweight modules is four, and two of the shell counterweight modules are symmetrically arranged on the upper surface and the lower surface of the surface body simulation shell in a group; the first platform of the simulation mechanism is fixed with the central rotating shaft and rotates together with the central rotating shaft; the cylinder end cover of the simulation mechanism cylinder is fixed on the first platform of the simulation mechanism, and the cylindrical pin on the piston rod is matched with the pin hole on the lower surface of the regular dodecahedron simulation shell to form a positioning module; the two simulation mechanism cylinders are symmetrically arranged on two sides of the central rotating shaft;
the lower end of the air floatation ball bearing is connected with the upper end of the central rotating shaft through a coupler; the simulation mechanism second platform is connected with a simulation mechanism third platform positioned below the simulation mechanism second platform through a simulation mechanism support rod, and a circular through hole is formed in the middle of the simulation mechanism second platform to ensure that the lower part of the central rotating shaft passes through the circular through hole; the bottom counterweight modules comprise three groups, each group comprises a counterweight rod and a counterweight block, the counterweight rods are fixed on a third platform of the simulation mechanism, and the leveling of the whole mechanism can be realized by replacing the mass of the counterweight blocks; the simulation mechanism gas cylinder is fixed on a third platform of the simulation mechanism, and is provided with a gas guide pipe for supplying gas to a simulation mechanism gas foot, a simulation mechanism cylinder and a gas floating ball bearing respectively; the simulation mechanism motor is fixed in the middle of the third platform of the simulation mechanism, and an output shaft of the simulation mechanism motor is connected with the lower end of the central rotating shaft through a coupling; the three simulation mechanisms are uniformly arranged below the third platform of the simulation mechanism, the bottom surfaces of the simulation mechanisms are in contact with the marble plane, and the upper ends of the simulation mechanisms are connected with the bottom surface of the third platform of the simulation mechanism;
the floating base mechanical arm mechanism comprises a six-degree-of-freedom mechanical arm, a protective guard, a power supply system, a floating base first platform, a floating base supporting rod, a floating base gas cylinder, a floating base counterweight, a floating base second platform, a floating base motor, a sliding block and a floating base gas foot; the base of the six-degree-of-freedom mechanical arm is fixed in the middle of the first floating base platform; the power supply system is arranged on one side of the first floating-base platform and supplies power to the six-degree-of-freedom mechanical arm through a conducting wire; the protective guard is fixed at the edge of the first floating base platform; the first floating base platform is connected with a second floating base platform positioned below the first floating base platform through a floating base supporting rod; four floating base gas cylinders and four floating base weight-balancing devices are uniformly fixed on a floating base second platform; the floating base motor is fixed on the lower surface of the floating base second platform, and the sliding block is connected with an output shaft of the floating base motor in a screw nut mode through a slide way; the four floating base air feet are uniformly arranged below the second floating base platform, the upper ends of the four floating base air feet are connected with the bottom surface of the second floating base platform, and the bottom surface of the four floating base air feet is in contact with the marble plane;
the despin tail end is a mechanical impact despin tail end, one end of the despin tail end is connected with the moving end of the six-degree-of-freedom mechanical arm through a flange plate, and the other end of the despin tail end despins the regular dodecahedron simulation shell;
the capturing tail end is a mechanical hand, one end of the capturing tail end is connected with the moving end of the six-degree-of-freedom mechanical arm through a flange plate, and the other end of the capturing tail end captures the convoluted regular dodecahedron simulation shell.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the experimental system, the air film generated after the air is ventilated through the air-floating ball bearing enables the target simulation shell to generate a floating state, and the motion of a space non-cooperative target on the track is simulated, so that the simulation is more real.
(2) The experimental system carries out mechanical impact racemization on the target through two arms, the two force actions form couple moment, the non-cooperative target cannot be translated, and the racemization efficiency is improved. And finally, capturing is carried out through a mechanical paw, and despinning and capturing of non-cooperative targets in the space are completely simulated. The whole experiment system is simple in structure, convenient to operate and convenient to install.
(3) The floating base mechanical arm mechanism is provided with a static counterweight and a dynamic counterweight, the static counterweight consists of a counterweight rod and a counterweight block and is used for statically leveling the floating base mechanical arm mechanism before an experiment; the dynamic balance weight is composed of a motor, a slide way and a slide block, the position of the slide block is adjusted by feeding back the change of the mass center of the mechanical arm after the mechanical arm moves, the dynamic leveling of the floating base mechanical arm mechanism is realized, and the state of the mechanical arm in the space is simulated more accurately.
(4) The non-cooperative target simulation shell is designed by a regular dodecahedron, the shape is regular, the appearance is attractive, the mass center is easy to control, and in the process of simulation capture, the mechanical gripper has more force points and is convenient to capture.
(5) The four groups of counterweight modules are positioned on the non-cooperative target shell, and the motor drives the sliding block to make the shell generate eccentricity so as to generate precession and nutation. The precession and nutation of the non-cooperative target can be controlled by adjusting the position of the mass center, and the simulation of the experimental process is greatly facilitated.
Drawings
FIG. 1 is an isometric view of the overall structure of one embodiment of a ground simulation experiment system for the racemization and capture of spatially non-cooperative targets in accordance with the present invention;
FIG. 2(a) is a schematic structural diagram of a spatial non-cooperative target simulation mechanism according to an embodiment of the present invention, which is used in a ground simulation experiment system for spatial non-cooperative target despinning and capturing; fig. 2(b) is a schematic sectional structure view taken along a-a section of fig. 2 (a).
Fig. 3 is a schematic structural diagram of a floating-based robot mechanism (without a six-degree-of-freedom robot) according to an embodiment of the ground simulation experiment system for despinning and capturing a spatial non-cooperative target in the invention.
Detailed Description
Specific examples of the present invention are given below. The specific examples are only for illustrating the present invention in further detail and do not limit the scope of protection of the present application.
The invention provides a ground simulation experiment system (an experiment system for short, see fig. 1-3) for despinning and capturing of a space non-cooperative target, which comprises a space non-cooperative target simulation mechanism, a floating base mechanical arm mechanism, a despinning tail end and a capturing tail end, and is characterized in that: three floating base mechanical arm mechanisms are arranged on the periphery of a space non-cooperative target simulation mechanism, wherein a despin tail end is arranged on two symmetrically arranged floating base mechanical arm mechanisms, the two despin tail ends are oppositely arranged, and a capture tail end is arranged on the other floating base mechanical arm mechanism;
the space non-cooperative target simulation mechanism comprises a regular dodecahedron simulation shell 7, a shell counterweight module 6, an air-floating ball bearing 12, a simulation mechanism cylinder 5, a simulation mechanism first platform 15, a central rotating shaft 14, a simulation mechanism second platform 16, a simulation mechanism supporting rod 17, a simulation mechanism air bottle 18, a simulation mechanism motor 22, a simulation mechanism third platform 20, a simulation mechanism bottom counterweight 19 and a simulation mechanism air foot 21;
the interior of the regular dodecahedron simulation shell 7 is hollow, the upper surface and the lower surface of the regular dodecahedron simulation shell are two horizontal planes, the air floatation ball bearing 12 is arranged in the regular dodecahedron simulation shell, and the upper end of the interior of the regular dodecahedron simulation shell is fixedly connected with the upper part of a rotor of the air floatation ball bearing 12; the shell counterweight module 6 comprises a motor, a screw rod and a counterweight block, the counterweight block is arranged on the screw rod, one end of the screw rod is connected with an output shaft of the motor through a shaft coupling, and the motor is fixed on the upper surface or the lower surface of the 12-face body simulation shell 7; the number of the shell weight modules 6 is four, and two of the shell weight modules are symmetrically arranged on the upper surface and the lower surface of the 12-face simulation shell 7 in a group. The first platform 15 of the simulation mechanism is fixed with the central rotating shaft 14 and rotates together with the same; the cylinder end cover of the simulation mechanism cylinder 5 is fixed on the simulation mechanism first platform 15, and the cylindrical pin on the piston rod is matched with the pin hole on the lower surface of the regular dodecahedron simulation shell 7 to form a positioning module 13; the two simulation mechanism cylinders 5 are symmetrically arranged on two sides of the central rotating shaft 14.
The lower end of the air-float ball bearing 12 is connected with the upper end of the central rotating shaft 14 through a coupler; the second simulation mechanism platform 16 is connected with a third simulation mechanism platform 20 positioned below the second simulation mechanism platform through a simulation mechanism support rod 17, and a circular through hole is formed in the middle of the second simulation mechanism platform 16 to ensure that the lower part of the central rotating shaft 14 passes through; the bottom counterweight modules 19 are provided with three groups, each group comprises a counterweight rod and a counterweight block, the counterweight rods are fixed on the third platform 20 of the simulation mechanism, and the leveling of the whole mechanism can be realized by replacing the mass of the counterweight blocks; the simulation mechanism gas cylinder 18 is fixed on a simulation mechanism third platform 20, and gas guide pipes are arranged on the simulation mechanism gas cylinder 18 and respectively supply gas for a simulation mechanism gas foot 21, a simulation mechanism cylinder 5 and a gas floating ball bearing 12; a simulation mechanism motor 22 is fixed in the middle of the simulation mechanism third platform 20, and an output shaft thereof is connected with the lower end of the central rotating shaft 14 through a coupling; the three simulation mechanism air feet 21 are uniformly arranged below the third simulation mechanism platform 20, the bottom surfaces of the simulation mechanism air feet are in contact with the marble plane, and the upper ends of the simulation mechanism air feet are connected with the bottom surface of the third simulation mechanism platform 20;
the floating base mechanical arm mechanism comprises a six-degree-of-freedom mechanical arm 2, a protective guard 3, a power supply system 10, a floating base first platform 28, a floating base support rod 23, a floating base gas cylinder 24, a floating base counterweight 11, a floating base second platform 25, a floating base motor 27, a sliding block 26 and a floating base gas foot 4; the base of the six-degree-of-freedom mechanical arm 2 is fixed in the middle of the floating base first platform 28; the power supply system 10 is arranged on one side of the floating base first platform 28 and supplies power to the six-degree-of-freedom mechanical arm 2 through a conducting wire; the guard rail 3 is fixed at the edge of the first floating base platform 28; the first floating base platform 28 is connected with a second floating base platform 25 positioned below the first floating base platform through a floating base support rod 23; four floating base gas cylinders 24 and four floating base counterweights 11 are uniformly fixed on a floating base second platform 25; the floating base motor 27 is fixed on the lower surface of the floating base second platform 25, and the sliding block 26 is connected with an output shaft of the floating base motor 27 in a screw nut mode through a slide way; the four floating base air feet 4 are uniformly arranged below the floating base second platform 25, the upper ends of the four floating base air feet are connected with the bottom surface of the floating base second platform 25, and the bottom surface of the four floating base air feet is in contact with the marble plane.
The despin tail end 1 is a mechanical impact despin tail end, one end of the despin tail end is connected with a moving end of the six-degree-of-freedom mechanical arm 2 through a flange plate, and the other end of the despin tail end despins the regular dodecahedron simulation shell 7;
the capturing tail end is a mechanical hand, one end of the capturing tail end is connected with the moving end of the six-degree-of-freedom mechanical arm 2 through a flange 8, and the other end of the capturing tail end captures a convoluted regular dodecahedron simulation shell 7; the tail end of the mechanical gripper is provided with a rubber block 9, so that friction on a target object is reduced.
The working principle and the working process of the experimental system are as follows:
the principle is as follows: the regular dodecahedron simulation shell 7 realizes five degrees of freedom through an air floating ball bearing 12 and a simulation mechanism air foot 21 to simulate the motion in space. The angular velocity vector coincides with the inertial axis when it is rotated off-axis about the central rotational axis 14. The eccentricity is generated by controlling the housing counterweight module 6 on the housing, so that the angular velocity vector is not coincident with the inertia axis, thereby generating precession and nutation. The dynamic balance weight of the floating-base mechanical arm mechanism is realized through a floating-base motor 27 and a sliding block 26 dynamic balance weight device below the floating-base second platform 25, the mass center offset is calculated according to the posture of the six-freedom-degree mechanical arm 2, and the floating-base motor 27 is controlled to drive the sliding block 26 to perform mass center fine adjustment until the mass center is controlled within a reasonable range. The regular dodecahedron simulation shell 7 is acted by two opposite forces to form a pair of force couples and generate a force couple moment. According to the theorem of angular momentum, the moment equals the change of the angular momentum of the regular dodecahedron analog hull 7 to the moment of impulse of the regular dodecahedron analog hull 7.
The working process is as follows:
And 2, starting a simulation mechanism motor 22 to enable the central rotating shaft 14 to drive the simulation mechanism first platform 15, the simulation mechanism cylinder 5 and the regular dodecahedron simulation shell 7 to rotate in a fixed axis mode.
And 3, the simulation mechanism cylinder 5 contracts, the simulation mechanism motor 22 stops rotating, and the air-float ball bearing 12 drives the non-cooperative target simulation shell 7 to continue to rotate in a self-rotating mode according to the angular speed provided by the simulation mechanism motor 22. In the shell counterweight module 6, a motor rotates to drive a sliding block (namely a counterweight block) to move to generate eccentricity, so that the non-cooperative target simulates the shell to generate precession and nutation, and the motion state of the non-cooperative target in a space is simulated.
And 4, controlling a floating base gas cylinder 24 on a floating base second platform 25 to ventilate the floating base gas foot 4. The power supply system 10 is started to supply power to the six-degree-of-freedom mechanical arm 2, the despin tail end 1 is driven by the two symmetrically distributed six-degree-of-freedom mechanical arms 2, the regular dodecahedron simulation shell 7 is decelerated by using the reaction force and the friction force, and the process of despin space debris is simulated. In the racemization process of the six-degree-of-freedom mechanical arm 2, the floating base motor 27 rotates to drive the sliding block 26 to slide, and the floating base mechanical arm mechanism is dynamically adjusted.
And 5, after the normal 12-face simulation shell is despin, driving a mechanical gripper to capture the target by using the six-degree-of-freedom mechanical arm 2, and simulating a space capture state. In the mechanical catching process, the floating base motor 27 rotates to drive the sliding block 26 to slide, and the mass center of the floating base mechanical arm mechanism is dynamically adjusted.
Nothing in this specification is said to apply to the prior art.
Claims (2)
1. A ground simulation experiment system for despin and capturing of a space non-cooperative target comprises a space non-cooperative target simulation mechanism, a floating base mechanical arm mechanism, a despin end and a capturing end, and is characterized in that: three floating base mechanical arm mechanisms are arranged on the periphery of a space non-cooperative target simulation mechanism, wherein a despin tail end is arranged on two symmetrically arranged floating base mechanical arm mechanisms, the two despin tail ends are oppositely arranged, and a capture tail end is arranged on the other floating base mechanical arm mechanism;
the space non-cooperative target simulation mechanism comprises a regular dodecahedron simulation shell, a shell counterweight module, an air-floating ball bearing, a simulation mechanism air cylinder, a simulation mechanism first platform, a central rotating shaft, a simulation mechanism second platform, a simulation mechanism supporting rod, a simulation mechanism air cylinder, a simulation mechanism motor, a simulation mechanism third platform, a simulation mechanism bottom counterweight and a simulation mechanism air foot; the interior of the regular dodecahedron simulation shell is hollow, the upper surface and the lower surface of the regular dodecahedron simulation shell are two horizontal planes, the air floatation ball bearing is arranged in the regular dodecahedron simulation shell, and the upper end of the interior of the regular dodecahedron simulation shell is fixedly connected with the upper part of a rotor of the air floatation ball bearing; the shell counterweight module comprises a motor, a screw rod and a counterweight block, the counterweight block is arranged on the screw rod, one end of the screw rod is connected with an output shaft of the motor through a shaft coupling, and the motor is fixed on the upper surface or the lower surface of the surface body simulation shell; the number of the shell counterweight modules is four, and two of the shell counterweight modules are symmetrically arranged on the upper surface and the lower surface of the surface body simulation shell in a group; the first platform of the simulation mechanism is fixed with the central rotating shaft and rotates together with the central rotating shaft; the cylinder end cover of the simulation mechanism cylinder is fixed on the first platform of the simulation mechanism, and the cylindrical pin on the piston rod is matched with the pin hole on the lower surface of the regular dodecahedron simulation shell to form a positioning module; the two simulation mechanism cylinders are symmetrically arranged on two sides of the central rotating shaft;
the lower end of the air floatation ball bearing is connected with the upper end of the central rotating shaft through a coupler; the simulation mechanism second platform is connected with a simulation mechanism third platform positioned below the simulation mechanism second platform through a simulation mechanism support rod, and a circular through hole is formed in the middle of the simulation mechanism second platform to ensure that the lower part of the central rotating shaft passes through the circular through hole; the bottom counterweight modules comprise three groups, each group comprises a counterweight rod and a counterweight block, the counterweight rods are fixed on a third platform of the simulation mechanism, and the leveling of the whole mechanism can be realized by replacing the mass of the counterweight blocks; the simulation mechanism gas cylinder is fixed on a third platform of the simulation mechanism, and is provided with a gas guide pipe for supplying gas to a simulation mechanism gas foot, a simulation mechanism cylinder and a gas floating ball bearing respectively; the simulation mechanism motor is fixed in the middle of the third platform of the simulation mechanism, and an output shaft of the simulation mechanism motor is connected with the lower end of the central rotating shaft through a coupling; the three simulation mechanisms are uniformly arranged below the third platform of the simulation mechanism, the bottom surfaces of the simulation mechanisms are in contact with the marble plane, and the upper ends of the simulation mechanisms are connected with the bottom surface of the third platform of the simulation mechanism;
the floating base mechanical arm mechanism comprises a six-degree-of-freedom mechanical arm, a protective guard, a power supply system, a floating base first platform, a floating base supporting rod, a floating base gas cylinder, a floating base counterweight, a floating base second platform, a floating base motor, a sliding block and a floating base gas foot; the base of the six-degree-of-freedom mechanical arm is fixed in the middle of the first floating base platform; the power supply system is arranged on one side of the first floating-base platform and supplies power to the six-degree-of-freedom mechanical arm through a conducting wire; the protective guard is fixed at the edge of the first floating base platform; the first floating base platform is connected with a second floating base platform positioned below the first floating base platform through a floating base supporting rod; four floating base gas cylinders and four floating base weight-balancing devices are uniformly fixed on a floating base second platform; the floating base motor is fixed on the lower surface of the floating base second platform, and the sliding block is connected with an output shaft of the floating base motor in a screw nut mode through a slide way; the four floating base air feet are uniformly arranged below the second floating base platform, the upper ends of the four floating base air feet are connected with the bottom surface of the second floating base platform, and the bottom surface of the four floating base air feet is in contact with the marble plane;
the despin tail end is a mechanical impact despin tail end, one end of the despin tail end is connected with the moving end of the six-degree-of-freedom mechanical arm through a flange plate, and the other end of the despin tail end despins the regular dodecahedron simulation shell;
the capturing tail end is a mechanical hand, one end of the capturing tail end is connected with the moving end of the six-degree-of-freedom mechanical arm through a flange plate, and the other end of the capturing tail end captures the convoluted regular dodecahedron simulation shell.
2. The ground simulation experiment system for racemization and capture of a spatial non-cooperative target according to claim 1, wherein the mechanical gripper is provided with a rubber block at the end.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113406887A (en) * | 2021-06-25 | 2021-09-17 | 日照坤仑智能科技有限公司 | Self-adaptive six-degree-of-freedom air floatation simulation test bed and calculation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113406887A (en) * | 2021-06-25 | 2021-09-17 | 日照坤仑智能科技有限公司 | Self-adaptive six-degree-of-freedom air floatation simulation test bed and calculation method thereof |
| CN113406887B (en) * | 2021-06-25 | 2022-02-22 | 日照坤仑智能科技有限公司 | Self-adaptive six-degree-of-freedom air floatation simulation test bed and calculation method thereof |
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