空间机械臂关节非线性因素对指向精度的影响【优秀课程毕业设计带任务书+开题报告+外文翻译】
空间机械臂关节非线性因素对指向精度的影响【2K-H行星轮系】
空间机械臂关节非线性因素对指向精度的影响
摘 要
随着航天事业的高速发展以及空间机械臂的广泛应用，致使人们对天线指向精度的要求也在逐渐提高，而空间机械臂作为天线系统核心部件，对于天线机构的指向行为有着重要影响。因此，本文通过调研大量文献与国内外研究现状的基础上，针对机械臂关节处非线性因素的影响做了进一步研究。本文以行星轮系作为空间机械臂关节为主要研究对象，侧重分析行星轮系的非线性因素对指向精度的影响。
本文选取2K-H行星轮系作为行星轮系的研究对象，在已有的行星轮系动力学建模方法的基础上，引入等效弹簧阻尼模型，建立了行星轮系的平移-扭转耦合模型，进而分析了行星轮系中非线性因素的计算。为了进一步研究天线指向行为所受的影响，根据行星轮系的动力学模型，建立了含行星轮系的天线动力学模型，明确了关节处非线性因素对天线指向精度的影响。基于不同的非线性因素对天线指向行为的影响，使用ADAMS动力学软件对关节非线性因素进行了模拟仿真，得出了行星轮系非线性因素影响指向精度的结果。进而绘制了天线偏移量的波动曲线，直观地反应了天线指向精度所受影响，并提出了规律性结论。这对于提高天线精度和降低机械臂制造成本有着重要指导意义。
关键词 指向精度；非线性因素；行星轮系；ADAMS软件
Effect of Space Manipulator Joint Nonlinear Factors on Pointing Accuracy
Abstract
With the rapid development of aerospace industry and the wide application of space manipulator, the requirement of pointing accuracy to the antenna is gradually increasing, and the space manipulator has the important influence on the pointing behavior of the antenna mechanism as the core component of the antenna system. Therefore, based on the investigation of a large number of literature and the status research at home and abroad, this paper makes further research on the influence of nonlinear factors in the joints of the manipulator. In this paper, the planetary gear train is used as the space arm joint as the main research object, focusing on the analysis of the nonlinear factors of the planetary gear train on the precision of the impact.
In this paper, the 2K-H planetary gear train is selected as the planetary gear train. Based on the existing dynamic modeling method of planetary gear train, the equivalent spring damping model is introduced to establish, the coupled model of planetary gear system is established, and then the nonlinear factors in planetary gear train are analyzed. In order to studying the influence of the antenna pointing behavior, the antenna dynamics model of the planetary gear train is established according to the dynamic model of the planetary gear train, and the influence of the nonlinear factors on the pointing accuracy of the antenna is clarified. Based on the influence of different nonlinear factors on the pointing behavior of the antenna, the non-linear factors of the joint are simulated by ADAMS, and the result of the accuracy of the nonlinear factors of the planetary gear train is obtained. And then we draws the fluctuation curve of the antenna offset, intuitively reflects the influence of the antenna pointing precision, and puts forward the regular conclusion. This has important guiding significance for improving the antenna accuracy and reducing the manufacturing cost of the manipulator.
Keywords Pointing accuracy, nonlinear factor, planetary gear train, ADAMS
目录
摘 要 I
Abstract II
第1章 绪论 1
1.1 课题研究的背景和意义 1
1.2 空间机械臂减速器综述及国内外研究现状 1
1.2.1 行星轮系减速器国外研究现状 1
1.2.2 行星轮系减速器国内研究现状 2
1.3 天线指向精度的影响因素 3
1.3.1 影响行星轮系减速器的非线性因素 4
1.3.2 行星轮系减速器作为关节的影响 4
第2章 行星轮系动力学模型 6
2.1 动力学模型的确立与假设 6
2.2 齿轮侧隙的计算 8
2.3 啮合误差的计算 9
2.4 摩擦力的计算 10
2.5 耦合误差的计算 11
2.6 本章小节 12
第3章 含行星轮系的天线动力学模型 13
3.1 含行星轮系的天线动力学模型 13
3.1.1 星载天线结构模型简图及其假设 13
3.1.2 星载天线动力学建模 14
3.2 本章小节 14
第4章 ADAMS的数值仿真与结果比较 15
4.1 单个行星轮系对天线动力学影响的研究 16
4.1.1 齿侧间隙对天线动力学的影响分析 16
4.1.2 啮合误差对天线动力学的影响分析 17
4.1.3 摩擦因素对天线动力学的影响分析 18
4.1.4 耦合误差对天线动力学的影响分析 19
4.1.5 本节小结 22
4.2 两个行星轮系对天线动力学的耦合研究 22
4.2.1 侧隙对天线动力学的影响分析 22
4.2.2 啮合误差对天线动力学的影响分析 23
4.2.3 摩擦因素对天线动力学的影响分析 27
4.2.4 耦合误差对天线动力学影响分析 29
4.2.5 本节小结 34
结论 35
致谢 36
参考文献 37
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任务书.doc
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封皮.doc
开题报告.doc
报告简述封皮.doc
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