| At present, more and more countries committed to the development of space technology, including the innovation and application of the space agency. The construction of a manned space station has been launched in our country, there will be a lot of space structrure need to be set up and maintained. The optimal design of mechanisms belongs to these technical areas. The optimization research of space robot, end effectors, robot arm connectors and changing device will play an important role, among them the optimization research of the locking mechanism has an important meaning of theoretical study and application value.In this paper, the optimization design and performance study of a locking mechanism of space manipulator has been accomplished. And the analytical investigation is proceeded from the aspect of anti-fatigue and reliability, the specific include the following content.Firstly, through the comprehensive consideration of the design requirements of the aerospace products and the subsystem of the space manipulator, two design schemes of the locking mechanism have been completed. From the situation of the system structure and the operation principle of the locking force, the two schemes are analysed and compared, then the final scheme is confirmed.Secondly, based on the determination of the design scheme, according to the working principle and structure size of the locking mechanism, the parametric virtual prototyping model of the mechanism is established, and dynamics simulation analysis of the model is proceeded. Optimization analysis model of the mechanism takes the preloaded force as objective function, and takes the positions of the hinged holes of the locking rods as the design variables. Through optimization of the locking mechanism, the preloaded force can be meet the design requirements.Finally, under the condition of ensuring the preloaded force of the locking mechanism, through the process of sensitivity analysis, the parameter optimization of the locking mechanism of the space robot is proceeded. The main work including the parameterization of the locking mechanism, finite element analysis, sensitivity analysis, fatigue analysis and modal analysis of the model. |
