某加注连接器位姿补偿机构设计及优化

摘要

针对自动对接和随动过程中连接器对接装置与箭体之间产生的位姿偏差问题,设计了一种连接器位姿补偿机构,并对机构的弹簧参数进行优化设计.验证了该机构满足对接要求的相关技术指标,在此基础上,建立需要优化的设计参数、优化所需目标函数;利用ADAMS/View软件提供的优化计算方法,分析了各设计参数对目标函数的影响,确定一组合理的弹簧设计参数.研究结果表明:该机构能很好地满足自动对接要求,实现对接装置与箭体之间的位姿补偿.%A connector position and pose compensation mechanism is designed and the spring parameters of it are optimized, the position and pose deviation between connector docking device and rocket in the process of auto-docking and follow-up is eliminated.The related technical indicators is verified , the design parameters is determind and the objective function is optimized. Then with the optimization calculation method provided by ADAMS/View, the influence of design parameters is analyzed. A series of reasonable design parameters are determined.The results show that the mechanism can meet the requirements of automatic docking and realize the compensation of the position and pose between the docking device and the arrow.