CN115447808A - Force-increasing principle non-redundant driving six-degree-of-freedom spacecraft butt joint attitude adjusting system - Google Patents
Force-increasing principle non-redundant driving six-degree-of-freedom spacecraft butt joint attitude adjusting system Download PDFInfo
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Abstract
The invention provides a force-increasing principle non-redundant driving six-degree-of-freedom spacecraft docking and attitude-adjusting system, which comprises: 4 support plates; the branched chain component comprises a first branched chain, a second branched chain, a third branched chain and a fourth branched chain; and the top of the attitude adjusting platform is provided with a spacecraft cabin section. The invention has the beneficial effects that: second mobile pair P in each branched chain of the invention 2 And a third moving pair P 3 The movement directions are vertical to each other and parallel to the posture adjusting platform, the included angles between the two moving pairs and the first main movement direction and the second main movement direction are both 45 degrees, and the first moving pair P of each branched chain leg at the initial posture 1 The arrangement mode leads the driving force in the first main motion direction and the second main motion direction to be increased when the included angle between the main motion direction and the supporting plate is alpha (alpha is less than 90 degrees) and the three moving pairs on the branched chain are driving pairs, thus meeting the requirement of large load for adjusting the docking posture of the spacecraft.
Description
Technical Field
The invention belongs to the technical field of attitude adjusting tools for spacecraft docking, and particularly relates to a non-redundant driving six-degree-of-freedom spacecraft docking attitude adjusting system based on a force boosting principle.
Background
In the spacecraft final assembly process, there is a high-precision docking process of key components such as solar wing installation, camera installation, antenna installation and the like. The precision requirements of the solar wing and a sailboard driving mechanism on six degrees of freedom are required to be guaranteed in the installation process of the solar wing, the existing traditional spacecraft butt joint technological process is based on a hand-operated posture adjusting vehicle erecting or two-axis rotary table and a theodolite, in the posture adjusting process, due to the fact that three indexes of pitching, yawing and rolling are mutually coupled, after one index is adjusted, the other two indexes are retested, further adjustment is conducted according to results and gradually approaches, the requirement on the operation skills of an operator is high, the operation in the whole process is complex, time consumption is large, and the reliability and precision of the final assembly of the spacecraft are seriously influenced.
The spacecraft docking and attitude adjusting equipment gradually develops towards the intelligent direction, the intelligent premise is enough automatic equipment, and at present, in the field of spacecraft docking and attitude adjusting, a six-degree-of-freedom parallel mechanism is often used as a pose adjusting device of the automatic equipment. In the application scene, the high requirement is provided for the pose precision of the six-degree-of-freedom parallel mechanism and the load capacity. At present, a six-degree-of-freedom parallel mechanism with a large load is generally driven by hydraulic pressure, however, the positioning precision of the six-degree-of-freedom parallel mechanism driven by hydraulic pressure cannot meet the requirement of special application. The electrically driven six-degree-of-freedom parallel mechanism can achieve very high positioning accuracy. However, the high-precision electrically-driven six-degree-of-freedom parallel mechanism has limited load capacity and cannot meet the requirement of large-load application. The overall load capacity of the six-degree-of-freedom parallel mechanism is improved under the condition that the load capacity of the electric drive unit is not changed, and the six-degree-of-freedom parallel mechanism has important significance for solving the problem of considering both high precision and large load of the six-degree-of-freedom parallel mechanism.
The six-degree-of-freedom parallel mechanism not only has the characteristics of high rigidity, strong bearing capacity, no accumulation of position errors and the like, but also is more flexible and higher in precision compared with parallel mechanisms with other degrees of freedom, so that the six-degree-of-freedom parallel mechanism can be used for spacecraft docking attitude-adjusting automatic equipment. On the premise of ensuring the advantages of the six-degree-of-freedom parallel mechanism, how to further improve the configuration and the structure has become a research hotspot, and although various parallel mechanisms have been derived at present, most mechanisms still have the following technical problems:
1. more branched chains are adopted for realizing six degrees of freedom, so that the mechanism is complicated, and the simplification of the whole structure, high motion precision and good stability are difficult to ensure.
2. Because of more branched chains, the branched chains are easy to interfere with each other, and the movement range of some degrees of freedom of the mechanism is further influenced.
Disclosure of Invention
In view of the above, the invention aims to provide a force-increasing principle non-redundant driving six-degree-of-freedom spacecraft docking and attitude-adjusting system, so as to solve the problems that the spacecraft docking technology is rough, the load capacity of an electrically-driven six-degree-of-freedom parallel mechanism is limited, high precision and large load cannot be taken into consideration, too many branched chains are required, and redundant driving control is complicated in the prior art.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a force-increasing principle non-redundant driving six-freedom-degree spacecraft butt joint attitude adjusting system comprises:
4 support plates for fixing the driving unit and providing support;
the support plate is arranged at the bottom of each of the first branched chain, the second branched chain, the third branched chain and the fourth branched chain, the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are arranged in a rectangular shape, the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are six-degree-of-freedom serial mechanisms, and are in an SPPP (space six-degree-of-freedom) configuration, and the branched chain assembly is used for driving the posture adjusting table to realize spatial six-degree-of-freedom motion;
the spacecraft cabin section is installed at the top of the attitude adjusting platform, the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are installed at the bottom of the attitude adjusting platform respectively, and the attitude adjusting platform is supported and driven by the branched chain assembly.
Further, the first branch chain comprises a ball pair and a first moving pair P 1 And a second moving pair P 2 And the third moving pair P 3 The sliding block comprises a first connecting rod, a second connecting rod, a third connecting rod, a sliding block and a flange plate, wherein one end of the first connecting rod is connected to the supporting plate through the ball pair, and the other end of the first connecting rod passes through the first sliding pair P 1 Is connected to one end of the second connecting rod, and the other end of the second connecting rod passes through the second sliding pair P 2 One end of the third connecting rod is connected to, and the other end of the third connecting rod passes through the third sliding pair P 3 One end of the first branch chain is connected to the sliding block, the sliding block is connected with the flange plate, the top of the flange plate is mounted on the posture adjusting platform, and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are identical in structure.
Further, the second moving pair P 2 The third moving pair P 3 The moving directions are vertical to each other and parallel to the posture adjusting table, and the second moving pair P 2 The third moving pair P 3 Both at an angle of 45 deg. to the first and second main movement directions.
Further, a first sliding pair P of the first branch chain, the second branch chain, the third branch chain and the fourth branch chain 1 The driving of the first branch chain is active driving, and the second moving pair P of the first branch chain 2 23 and a third mobile pair P of said third branch 3 For active driving, the first branched chain and the third branched chain adopt compound driving, the second branched chain and the fourth branched chain adopt a single driving mode, and the first branched chain and the second branched chain adopt a single driving modeThe chain, the third branch chain and the fourth branch chain form a driving unit, and the driving unit is a non-redundant driving unit.
Furthermore, the supporting plate comprises a supporting bedplate and a spherical pair outer spherical shell, the spherical pair outer spherical shell is installed at the top of the supporting bedplate, and an accommodating space for accommodating the spherical pair is formed in the top of the spherical pair outer spherical shell.
Furthermore, the supporting plate is formed by connecting a plurality of small blocks through hinges.
Furthermore, the posture adjusting platform comprises a platform plate body, 4 speed reducers, 4 driving motors, 4 universal wheels, 4 supporting rods and a spacecraft support, the spacecraft support is installed at the top of the platform plate body, the four corners of the bottom of the platform plate body are respectively provided with one universal wheel through one supporting rod, the 4 universal wheels respectively correspond to the first branched chain, the second branched chain, the third branched chain and the fourth branched chain, and each universal wheel is respectively provided with one speed reducer and 1 driving motor.
Furthermore, a plurality of positioning holes are formed in the bottom of the bedplate body and used for mounting the flange plate.
Further, a first sliding pair P of each branched chain leg in the initial pose 1 The included angle between the supporting plate and the supporting plate is alpha, and the alpha is an acute angle.
Compared with the prior art, the butt joint attitude adjusting system of the force-increasing principle non-redundant drive six-degree-of-freedom spacecraft, disclosed by the invention, has the following advantages:
(1) The invention relates to a force-increasing principle non-redundant drive six-degree-of-freedom spacecraft docking and attitude-adjusting system 2 And a third moving pair P 3 The movement directions are vertical to each other and parallel to the posture adjusting platform, the included angles between the two moving pairs and the first main movement direction and the second main movement direction are both 45 degrees, and the first moving pair P of each branched chain leg at the initial posture 1 The arrangement mode leads the driving force in the first main motion direction and the second main motion direction to be increased when the included angle between the main shaft and the supporting plate is alpha (alpha is less than 90 degrees) and the three moving pairs on the branched chain are driving pairs, thus achieving the butt joint adjustment of the spacecraftThe requirement of large posture and load.
(2) According to the force-increasing principle non-redundant drive six-degree-of-freedom spacecraft docking and attitude adjusting system, a compound drive mode is adopted on the first branched chain and the third branched chain, so that six-degree-of-freedom motion can be realized while the branched chains are reasonably reduced, mutual interference among the branched chains can be avoided, and the mechanism is simple in calculation and easy to control.
(3) The invention relates to a force-increasing principle non-redundant drive six-degree-of-freedom spacecraft docking and attitude adjusting system, which adopts four branches to realize six-degree-of-freedom motion, so that the whole platform is simplified, the number of the branch chains is moderate, the branch chains are not easy to interfere with each other, and the motion range of each degree of freedom is larger.
(4) According to the force-increasing principle non-redundant drive six-degree-of-freedom spacecraft butt joint posture adjustment system, the support plates connected with the 4 branched chains are connected with the ground through plane pairs, and the branched chains are connected with the posture adjustment platform through flange plate bolts, so that the system is convenient to disassemble and assemble, and lays a foundation for modular design.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic overall view of a parallel posture adjustment platform according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a parallel posture adjustment platform moving system according to an embodiment of the present invention;
FIG. 3 is a schematic view of an attitude adjusting table according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a branched chain structure of a parallel posture adjustment platform according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a first branch chain according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a second branch chain according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a third branch chain according to an embodiment of the present invention;
FIG. 8 is a schematic view of a support plate according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of the movement of the SPPP branch mechanism according to the embodiment of the present invention;
fig. 10 is a schematic view of two working modes of the parallel posture adjusting platform according to the embodiment of the present invention.
Description of the reference numerals:
1. a support plate; 11. a support platen; 12. an outer spherical shell of the spherical pair; 2. a first branch chain; 21. a ball pair; 22. first sliding pair P 1 (ii) a 23. Second sliding pair P 2 (ii) a 24. Third moving pair P 3 (ii) a 25. A first connecting rod; 26. a second connecting rod; 27. a third connecting rod; 28. a slider; 29. a flange plate; 3. a second branch chain; 4. a posture adjusting table; 41. a platen body; 42. a speed reducer; 43. a drive motor; 44. a universal wheel; 45. a support bar; 46. a spacecraft support; 47. positioning holes; 5. a third branch chain; 6. a fourth branch chain; 7. spacecraft cabin.
Embodiment mode 31: spherical hinge; 32: a branched chain first connecting rod; 33: a branched chain second connecting rod; 34: a branched third connecting rod; 35: a slider; 36: a flange plate; 37: locating hole
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 10, the platform includes 4 support plates 1, 4 omnidirectional wheels 44, a posture adjusting platform 4, and 4 branched chains (a first branched chain 2, a second branched chain 3, a third branched chain 5, and a fourth branched chain 6, as shown in fig. 1, the branched chain at the front end of the left side is the first branched chain 2, the branched chain at the rear end of the left side is the second branched chain 3, the branched chain at the rear end of the right side is the third branched chain 5, and the branched chain at the rear end of the right side is the fourth branched chain 6) which are connected around the posture adjusting platform 4 in a generalized symmetrical layout manner and have the same structure. The 4 branched chains are all six-degree-of-freedom series mechanisms, and the configuration is SPPP; the four branched chains are all in a modular design, each branched chain can be connected to the position near one omnidirectional wheel 44 of the posture adjusting table 4 through 1 connecting seat convenient to disassemble and assemble, the relative position between each branched chain and the omnidirectional wheel 44 can be adjusted in real time based on the operation space and the bearing requirement, and the lower end of each branched chain is connected with the supporting plate 1 through a ball pair 21 of the branched chain. Wherein the second kinematic pair P of each branched leg 2 23 and a third moving pair P 3 24 the moving directions are vertical to each other and parallel to the posture adjusting table 4, the included angles between the two moving pairs and the first main moving direction and the second main moving direction are both 45 degrees, and the first moving pair P of each branched chain leg at the initial posture is 1 22 is not perpendicular to the supporting plate 1, i.e. has a certain angle α, the magnitude of α is determined by the supporting plate 1 and the groundThe self-locking principle of friction between the two parts is determined. First sliding pair P with 4 branched chains 1 22 are actively driven, and in addition to this, the first branch chain and the second moving pair P 2 And a third branch chain third mobile pair P 3 And active driving is also adopted, namely a composite driving mode is adopted on the first branch chain 2 and the third branch chain 5, and a single driving mode is adopted on the second branch chain 3 and the fourth branch chain 6 to form a driving unit. Each branched chain driver can adopt a motor lead screw structure, a pneumatic cylinder or a hydraulic cylinder and the like. The active driving arrangement mode on the branched chain can achieve the purpose of reinforcing the first main motion direction and the second main motion direction.
The supporting plate 1 is used for fixing the driving unit and providing support;
the driving unit is a non-redundant driving unit, is arranged on the supporting plate 1 and can drive the posture adjusting table 4 to realize spatial six-degree-of-freedom motion;
the posture adjusting table 4 is supported and driven by the driving unit.
The method and the device aim to overcome the defect caused by excessive redundant driving of the position and pose adjusting mechanism of the spacecraft. The redundant posture adjusting mechanism can be driven to avoid the singularity of the mechanism and improve the dynamic performance of the parallel mechanism, but the posture adjusting mechanism has too many driving numbers, high linkage control requirements, complex control system, high manufacturing, installing and maintaining cost and limits the driving stroke. When the spacecraft attitude adjusting mechanism is applied in practical engineering, the attitude of the spacecraft is often close to the attitude of a target, the attitude adjusting amount is small, and no singular point exists in the attitude adjusting mechanism in the attitude adjusting process; and the posture adjusting process is slow, and the kinetic curve has no mutation. Therefore, in the assembly of the spacecraft, the advantages of a redundant driving mechanism are not needed to be utilized, and the redundant driving attitude adjusting mechanism has more driving waste.
In a preferred embodiment of the present invention, as shown in fig. 1 to 2, the present invention comprises a support plate 1, a posture adjusting table 4, and four branched chains having the same configuration and connected between the posture adjusting table 4 and the support plate 1. The support plate 1 and the posture adjusting platform 4 are of rectangular structures, the support plate 1 is connected with the branched chain 2 at the bottom, the posture adjusting platform 4 is positioned on the branched chain (a first branched chain 2, a second branched chain 3, a third branched chain 5 and a fourth branched chain 6), and the first branched chain 2 and the fourth branched chain 2The two branched chains 3, the third branched chain 5 and the fourth branched chain 6 are all six-degree-of-freedom series mechanisms, the configuration is 4-SPPP, the 4-SPPP means that the mechanism is provided with 4 branched chains, and each branched chain respectively consists of a ball pair (S) and three moving pairs (P) in sequence; the first branched chain 2, the second branched chain 3, the third branched chain 5 and the fourth branched chain 6 are in rectangular layout and are connected above the supporting plate 1 through spherical hinges and are arranged at four corners of the rectangle, and the upper ends of the branched chains are connected with the posture adjusting table 4 through modular design. Wherein the second kinematic pair P of each branched leg 2 (73) And a third moving pair P 3 (74) The moving directions are vertical to each other and parallel to the posture adjusting table 4, the included angles between the two moving pairs and the first main moving direction and the second main moving direction are both 45 degrees, and the moving pair P of each branched chain leg at the initial posture 1 (72) The included angle between the supporting plate 1 and the alpha (alpha is less than 90 degrees), the size of the alpha is determined according to the self-locking principle, the alpha can enable the supporting plate 1 and the ground to be self-locked without sliding, and when the three moving pairs on the branched chain are all driving pairs, the arrangement mode achieves the purpose of boosting in the first main movement direction and the second main movement direction. Each branched chain driver adopts a driver 32 capable of realizing linear telescopic motion as an active driver, and a driving unit is formed by adopting a compound driving mode on the first branched chain and the third branched chain.
The supporting plate 1 is used for fixing the driving unit and providing support; the driving unit is a non-redundant driving unit, is arranged on the supporting plate 1 and can drive the posture adjusting table 4 to realize spatial six-degree-of-freedom motion; the posture adjusting table 4 is supported and driven by the driving unit.
In a preferred embodiment of the present invention, in an embodiment of the present invention, the docking and posture-adjusting parallel mechanism 4-SPPP has six degrees of freedom, the telescopic lengths of the four branched chains are adjusted, and the posture-adjusting table 4 has six degrees of freedom in space, so that the spatial posture can be adjusted as required. In addition, through the six-degree-of-freedom parallel mechanism, the shake errors generated during posture change are mutually offset and compensated, so that the precision and the stability of the butt joint posture adjusting mechanism are improved.
In a preferred embodiment of the present invention, the posture adjustment table 4 and the support plate 1 of the present embodiment may have other shapes, and the four branched chains may be provided at positions of the posture adjustment table 4 toward the middle of the posture adjustment table 4.
In a preferred embodiment of the present invention, the supporting plate 1 comprises a supporting platen 11 and a branched spherical pair outer spherical shell 12, and the four spherical pair outer spherical shells 12 are arranged at four corners of a rectangle in a rectangular symmetry manner; the posture adjusting platform 4 comprises a platform plate body 41, a spacecraft support 46 and four universal wheels 44, the spacecraft support 46 is located on the upper surface of the posture adjusting platform plate body 41 and connected through bolts, the four universal wheels 44 are arranged on two sides of the posture adjusting platform plate body 41 and used for enabling the posture adjusting platform 4 to move in an omnidirectional mode when moving in a macro mode, four positioning holes 47 are reserved at four corners of the bottom surface of the posture adjusting platform plate body 41, and the positioning holes 47 are used for being detachably connected with the first branch chain 2, the second branch chain 3, the third branch chain 5 and the fourth branch chain 6 to play a role in positioning, so that a foundation is laid for achieving modular design. The four universal wheels 44 are Mecanum wheels.
In a preferred embodiment of the present invention, four universal wheels 44 work in coordination with the first, second, third and fourth branches 2, 3, 5, 6 to form two modes of operation. The omnidirectional moving wheel train formed by the four universal wheels 44 can continuously move along any direction and any track in a plane, can realize the omnidirectional movement of the whole wheel train so as to carry out omnidirectional movement when the attitude adjusting platform 4 carries out macro movement, and a fine adjustment system formed by the first branched chain 2, the second branched chain 3, the third branched chain 5 and the fourth branched chain 6 is used for the attitude adjusting platform 4 to carry out micro-motion adjustment on the attitude of the spacecraft. The omnidirectional moving wheel system is adopted to move initially, when the omnidirectional moving wheel system moves to a specified position, the omnidirectional moving wheel system stops working, a fine adjustment system formed by four branched chains is adjusted to land, fine adjustment is carried out by the four branched chains, and the posture adjustment work is further completed.
In a preferred embodiment of the present invention, four universal wheels 44 contact and separate with the ground by lifting and lowering the first, second, third and fourth branches 2, 3, 5 and 6.
21. A ball pair; 22. first sliding pair P 1 (ii) a 23. Second sliding pair P 2 (ii) a 24. Third moving pair P 3 (ii) a 25. A first connecting rod; 26. a second connecting rod; 27. a third connecting rod; 28. a slider; 29. a flange plate; 3. a second branch chain;
in a preferred embodiment of the present invention, the structure of the 4 branches of the SPPP configuration mechanism is identical, the branch 3 is connected with the ball pair 21 for the supporting plate by a first connecting rod 25, the other end of the first connecting rod 25 is connected with a second connecting rod 26 by a first moving pair P 1 22, the other end of the branched second connecting rod 26 and the third connecting rod 27 are connected by a second sliding pair P 2 23, the other end of the branched third connecting rod 27 and the slide block 28 are connected by a third moving pair P 3 And 24, connection, namely the first connecting piece is a ball pair, and the second connecting piece, the third connecting piece and the fourth connecting piece are all moving pairs. The slide 28 is connected to a flange 29 for modular design with the position adjustment stage.
In a preferred embodiment of the invention, the second kinematic pair P of each branched leg 2 23 and a third moving pair P 3 24 directions of movement are perpendicular to each other and parallel to the posture adjusting table, and a second sliding pair P 2 23 and a third moving pair P 3 24 are arranged in a coplanar manner, and form an included angle of 45 degrees with the first main motion direction and the second main motion direction respectively, and when the second sliding pair P is obtained by the formula 1-1 2 23 and a third moving pair P 3 When 24 is a driving pair and the provided driving forces are equal, the driving forces in the first main movement direction (which is the x-axis direction) and the second main movement direction (which is the y-axis direction) are 1.414 times of the driving force provided by the driving pair.
A second sliding pair P of each branched chain leg 2 23 and a third moving pair P 3 24 the motion directions are vertical to each other and parallel to the posture adjusting table, and the included angles between the motion directions and the first main motion direction and the second main motion direction are both 45 degrees, when the second moving pair P 2 23 and a third moving pair P 3 When 24 is a driving pair, it is equivalent to that there is an included angle of 45 deg. between the arrangement of the driving pair and the first and second main motion directions, when the two driving pairs are usedWhen the driving forces provided by the pairs are equal, the resultant force can be known to be consistent with the first or second main motion direction by utilizing a force parallelogram method, so that the purpose of force increasing is realized; when the driving forces provided by the two driving pairs are not equal, the purpose of boosting can be realized by forming a resultant force by using a force parallelogram method.
In a preferred embodiment of the invention, the first kinematic pair P of each branched leg in the initial position 1 22 forms an angle alpha (alpha < 90 DEG) with the support plate 1, alpha enabling the first sliding pair P 1 22 is the driving force provided by the driving pair, acts within the friction angle of the driving pair, namely alpha can cause the self-locking between the supporting plate 1 and the ground without sliding, the size of alpha is determined by the static friction coefficient between two contact surfaces, as can be seen from the formula 1-2, and at the moment, the first moving pair P 1 When the driving pair 22 is provided, not only the driving force in the vertical direction but also the driving force in the horizontal direction is provided.
Wherein alpha is a first moving pair P 1 22 to the supporting plate 1, and alpha is required to ensure the first sliding pair P 1 22 is within the friction angle between the support plate 1 and the ground. The main factor influencing the friction angle is the friction coefficient between two contact surfaces, so that the friction coefficient can be increased by changing the roughness of the contact surfaces, such as improving the grains of the contact surfaces, increasing anti-skid plates with large friction coefficients such as rubber, asbestos and the like, and further changing the friction angle.
In a preferred embodiment of the invention, each large platform of the support plate is formed by a plurality of small blocks which are connected by hinges so as to increase the friction between the support plate and the ground.
In a preferred embodiment of the invention, this arrangement provides for an increase in the first main movement direction and the second main movement direction drive forces if the three sliding pairs are drive pairs.
In a preferred embodiment of the present invention, the driving method of the present invention: first sliding pair P with 4 branched chains 1 22 all-purpose driverThe moving pair drives, in addition to which the first branch chain and the second moving pair P 2 23 and third branch chain third mobile pair P 3 The 24 is also driven by a driving pair to form a driving unit, and the driving pair is a driver capable of realizing linear telescopic motion. The driving units adopt 6 drives to realize the adjustment of 6 degrees of freedom of the machine body, the number of the branched chain drives is distributed to be 2-1-2-1, and the driving units do not have redundant drives.
In a preferred embodiment of the invention, the invention is mainly designed for spacecraft docking and attitude adjustment, a horizontal part of a bracket on an attitude adjusting platform can be used for placing large-plane components to be docked and attitude adjusted, such as a solar sailboard, and an arc-shaped part can be used for placing cylindrical components to be docked and attitude adjusted, such as a spacecraft cabin section.
The invention has the following beneficial effects:
1. second mobile pair P in each branched chain of the invention 2 23 and a third moving pair P 3 24 the motion directions are vertical to each other and parallel to the posture adjusting table 4, the included angles between the two moving pairs and the first main motion direction and the second main motion direction are both 45 degrees, and the first moving pair P of each branched chain leg at the initial posture 1 22 and the supporting plate 1, and when the three moving pairs on the branched chain are driving pairs, the arrangement mode increases the driving force in the first main motion direction and the second main motion direction, thereby meeting the requirement of large load for adjusting the docking posture of the spacecraft.
2. The first branched chain and the third branched chain are driven compositely, so that six-degree-of-freedom motion can be realized while the branched chains are reduced reasonably, mutual interference among the branched chains can be avoided, and the mechanism is simple in calculation and easy to control.
3. The invention adopts four branches to realize six-degree-of-freedom motion, so that the whole platform is simplified, the number of the branch chains is moderate, the branch chains are not easy to interfere with each other, and the motion range of each degree of freedom is larger.
4. The support plate connected with the 4 branched chains is connected with the ground through the plane pair, and each branched chain is connected with the posture adjusting table through the flange plate bolt, so that the support plate is convenient to disassemble and assemble, and a foundation is laid for modular design.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A non-redundant drive six-freedom-degree spacecraft butt joint attitude adjusting system based on a force increasing principle is characterized in that: the method comprises the following steps:
4 support plates (1), wherein the support plates (1) are used for fixing the driving unit and providing support;
the branched chain component comprises a first branched chain (2), a second branched chain (3), a third branched chain (5) and a fourth branched chain (6), the bottom parts of the first branched chain (2), the second branched chain (3), the third branched chain (5) and the fourth branched chain (6) are respectively provided with one supporting plate (1), the first branched chain (2), the second branched chain (3), the third branched chain (5) and the fourth branched chain (6) are arranged in a rectangular shape, the first branched chain (2), the second branched chain (3), the third branched chain (5) and the fourth branched chain (6) are all six-degree-of-freedom serial mechanisms, the structure is SPPP, and the branched chain component is used for driving the posture adjusting platform (4) to realize spatial six-degree-of-freedom motion;
the device comprises a posture adjusting platform (4), a spacecraft cabin section (7) is installed at the top of the posture adjusting platform (4), the first branch chain (2), the second branch chain (3), the third branch chain (5) and the fourth branch chain (6) are respectively installed at the bottom of the posture adjusting platform (4), and the posture adjusting platform (4) is supported and driven by the branch chain assembly.
2. The force-increasing principle non-redundant driving six-degree-of-freedom spacecraft docking and attitude-adjusting system according to claim 1, characterized in that: the first branch chain (2) comprises a ball pair (21) and a first moving pair P 1 (22) A second moving pair P 2 (23) And the third moving pair P 3 (24) The connecting structure comprises a first connecting rod (25), a second connecting rod (26), a third connecting rod (27), a sliding block (28) and a flange plate (29), wherein one end of the first connecting rod (25) is connected to the supporting plate (1) through the ball pair (21), and the other end of the first connecting rod (25) passes through the first sliding pair P 1 (22) Is connected withIs connected to one end of the second connecting rod (26), and the other end of the second connecting rod (26) passes through the second sliding pair P 2 (23) Is connected to one end of the third connecting rod (27), and the other end of the third connecting rod (27) passes through the third moving pair P 3 (24) One end of the first branched chain is connected to the sliding block (28), the sliding block (28) is connected with the flange plate (29), the top of the flange plate (29) is mounted on the posture adjusting table (4), and the first branched chain (2), the second branched chain (3), the third branched chain (5) and the fourth branched chain (6) are identical in structure.
3. The force-increasing principle non-redundant driving six-degree-of-freedom spacecraft docking and attitude-adjusting system according to claim 2, characterized in that: the second sliding pair P 2 (23) The third moving pair P 3 (24) The moving directions are vertical to each other and parallel to the posture adjusting table (4), and the second moving pair P 2 (23) The third moving pair P 3 (24) Both at an angle of 45 deg. to the first and second main movement directions.
4. The force-increasing principle non-redundant driving six-degree-of-freedom spacecraft docking and attitude-adjusting system according to claim 2, characterized in that: a first kinematic pair P of the first branch (2), the second branch (3), the third branch (5) and the fourth branch (6) 1 (22) Is actively driven, the second moving pair P of the first branch chain (2) 2 (23) And a third mobile pair P of said third branch (5) 3 (24) For active driving, the first branch chain (2) and the third branch chain (5) adopt compound driving, the second branch chain (3) and the fourth branch chain (6) adopt a single driving mode, the first branch chain (2), the second branch chain (3), the third branch chain (5) and the fourth branch chain (6) form a driving unit, and the driving unit is a non-redundant driving unit.
5. The force-increasing principle non-redundant driving six-degree-of-freedom spacecraft docking and attitude-adjusting system according to claim 2, characterized in that: the supporting plate (1) comprises a supporting bedplate (11) and a spherical pair outer spherical shell (12), the spherical pair outer spherical shell (12) is installed at the top of the supporting bedplate (11), and an accommodating space for accommodating the spherical pair (21) is formed in the top of the spherical pair outer spherical shell (12).
6. The force-increasing principle non-redundant driving six-degree-of-freedom spacecraft docking and attitude-adjusting system according to claim 1, characterized in that: the supporting plate (1) is formed by connecting a plurality of small blocks through hinges.
7. The force-increasing principle non-redundant driving six-degree-of-freedom spacecraft docking and attitude-adjusting system according to claim 2, characterized in that: the posture adjusting platform (4) comprises a platform plate body (41), 4 speed reducers (42), 4 driving motors (43), 4 universal wheels (44), 4 supporting rods (45) and a spacecraft support (46), wherein the spacecraft support (46) is installed at the top of the platform plate body (41), the universal wheels (44) are installed at four corners of the bottom of the platform plate body (41) through the supporting rods (45), the 4 universal wheels (44) respectively correspond to the first branch chain (2), the second branch chain (3), the third branch chain (5) and the fourth branch chain (6), and the speed reducer (42) and the driving motor (43) are installed on each universal wheel (44).
8. The docking attitude-adjusting system of a force-increasing principle non-redundant drive six-degree-of-freedom spacecraft according to claim 2, characterized in that: the bottom of the bedplate body (41) is provided with a plurality of positioning holes (47), and the positioning holes (47) are used for installing the flange (29).
9. The force-increasing principle non-redundant driving six-degree-of-freedom spacecraft docking and attitude-adjusting system according to claim 2, characterized in that: first sliding pair P of each branched chain leg in initial pose 1 (22) The included angle between the supporting plate (1) and the alpha is an acute angle.
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|---|---|---|---|
| CN202211054250.4A CN115447808A (en) | 2022-08-31 | 2022-08-31 | Force-increasing principle non-redundant driving six-degree-of-freedom spacecraft butt joint attitude adjusting system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211054250.4A CN115447808A (en) | 2022-08-31 | 2022-08-31 | Force-increasing principle non-redundant driving six-degree-of-freedom spacecraft butt joint attitude adjusting system |
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| Country | Link |
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