考虑含间隙运动副磨损的空间站机械臂动力学分析

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振动与冲击 ›› 2025, Vol. 44 ›› Issue (12) : 176-183.

航空航天

考虑含间隙运动副磨损的空间站机械臂动力学分析

李博*1,2，刘旭柠1，郭杰1，王宇男1，胡凯3

作者信息 +

Dynamic analysis of space station manipulator considering wear of clearance joints

LI Bo*1,2,LIU Xuning1,GUO Jie1,WANG Yunan1,HU Kai3

Author information +

文章历史 +

摘要

以含间隙空间站机械臂机构为研究对象，分析运动副磨损对机构运动输出精度的影响。首先，结合Lankarani-Nikravesh接触碰撞力模型与LuGre滞滑摩擦力模型对机构进行动力学建模，建立磨损深度与穿刺深度、刚度系数的关系函数；其次，探究不同间隙条件下，系统的动态响应特征；最后将仿真结果与Archard模型相结合，分析不同条件下运动副的磨损情况，重构非规则间隙表面，求解磨损对系统动态响应的作用。结果表明：对于开环机构，间隙位置越靠近末端执行器对末端的影响越大，与航天器本体相连接的运动副磨损相对较严重，非规则间隙下，速度与加速度波动发生的时间滞后于规则间隙。

Abstract

The manipulator mechanism of space station with clearance is taken as the research object, and the influence of motion pair wear on the motion output accuracy of the mechanism is analyzed. Firstly, the dynamic modeling of the mechanism is carried out by combining the Lankarani-Nikravesh contact impact force model and the LuGre stagnation-slip friction model, and the relationship function between wear depth and puncture depth and stiffness coefficient is established. Secondly, the dynamic response characteristics of the system under different clearance conditions are explored. Finally, the simulation results are combined with the Archard model to analyze the wear of the motion pair under different conditions, reconstruct the irregular clearance surface, and solve the effect of wear on the dynamic response of the system. The results show that for the open-loop mechanism, the closer the clearance position is to the end effector, the greater the influence on the end effector is. The wear of the kinematic pair connected to the spacecraft body is more serious. Under the irregular clearance, the time of velocity and acceleration fluctuation lags behind that of the regular clearance.

导出引用

李博1, 2, 刘旭柠1, 郭杰1, 王宇男1, 胡凯3. 考虑含间隙运动副磨损的空间站机械臂动力学分析[J]. 振动与冲击, 2025, 44(12): 176-183

LI Bo1, 2, LIU Xuning1, GUO Jie1, WANG Yunan1, HU Kai3. Dynamic analysis of space station manipulator considering wear of clearance joints[J]. Journal of Vibration and Shock, 2025, 44(12): 176-183

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