带有齿隙的空间机械臂动力学仿真与试验设计

摘要

Taking space manipulator with backlashes for research object,theair-floatation equipment is used to achieve the microgravity environment,and a pair of standard involute center distances of the cylindrical gear is changed to continuously adjust the backlashes of joint.Three-dimensional model of the mechanism of experimental verification are designedbased on ADAMS.After assembling the model,design the control system,measuring system and air-floatation auxiliary system,and design the verification test to make it can reflect the dynamical impact of space manipulator system For different backlashes in the microgravity environment,in order to provide theoretical guidance to extend the life of the space manipulator.%本文以带有齿隙的空间机械臂为研究对象,通过气悬浮的方式实现微重力的模拟,用改变一对标准渐开线支持圆柱齿轮中心距的方式,实现关节齿隙的连续可调,设计了试验验证机构的三维模型,并基于ADAMS搭建其动力学模型对多齿隙机械臂的动力学模型进行仿真分析.对模型进行加工装配后,设计控制系统、测量系统和供气辅助系统,并设计验证试验,使其能够实现对于不同齿隙情况,反映微重力环境下齿隙对机械臂系统动力学特性的影响,为延长空间机械臂的使用寿命提供理论指导.