Design And Research On Satellite Transport Vehicle Based On Parallel Mechanisms

Satellite transport vehicle is an auxiliary machinery for satellite assembly and test,mainly used in the AIT factory, undertakes the task of assembling and shipping thesatellite. It improves the assembly efficiency and reduces the manufacturing costs. In thispaper, the structure of satellite transport is designed and kinematics, performance index,orientation workspace and dynamics of the transport vehicle are analyzed and studied.First of all, the structure of satellite transport is designed, the basic size of translationelevating rotating platform and the model of key parts are determined and the virtualprototype of satellite transport is built by SOLIDWORKS software. By applying theparallel mechanism theory and influence coefficients theory, the displacement, velocityand acceleration of mechanism is analyzed. The kinematics model of mechanism isestablished.Secondly, the global velocity, force, stiffness index of transport vehicle areresearched. Using the MATLAB software, the atlase of each performance index is plotted.By analyzing the relation between each performance index atlas and structural dimension,the numeric area of the dimension in the optimal combination property is obtained.Thirdly, the maximum roll angle and the average tilt angle in zero roll angle ofrotation platform are used as the objective function. Using the genetic algorithm, thestructural dimensions of the robot are optimized, and rolling capability and tiltingcapability of the transport vehicle are analyzed.Finally, the model of dynamics is set up by Newton-Euler method, and the analysisformula of input driving force in work condition is obtained. The simulation is carried outby ADAMS software. The simulative results and theoretic results are compared. Thecorrectness of kinematics and dynamics are checked.