| The coupling cable-locked drive gear train is a kind of device for precise transmission of steel wire rope,whose transmission accuracy directly affects the synchronous docking of two spacecraft.The synchronization of the lock system is mainly guaranteed by assembly.Due to the complex deformation behavior and working conditions of the steel wire rope,the assembly accuracy and assembly efficiency of the lock system are low,and its synchronization is not easy to be guaranteed.Moreover,the existing deformation modeling of the steel wire rope is mostly based on the simplified model or ignoring the internal structural factors,which also affects the synchronization.In this paper,considering the working conditions and the internal structure of the wire rope,the deformation mathematical models of the free section and the arc section of the wire rope are modified,and the transmission error model is studied.According to the different mechanical behaviors,the steel wire rope of the butt locking gear train can be divided into free section and non free section(rope wheel arc section).Through the establishment of the deformation mathematical model of the steel wire rope of the free section and arc section of the butt locking gear train,the foundation for the modeling research of the transmission error of the rope driving gear train is laid.First of all,the solid modeling and finite element analysis of the free section steel wire rope of the butt locking gear train are carried out.Considering the complex forming structure of steel wire rope(6×19 IWS),a 3D solid model of steel wire rope in the free section of the wheel system of butt locking rope drive is established by using UG software.The finite element analysis software is used to carry out the numerical simulation calculation of its deformation mechanical properties,and the influence of the pre tightening force of the free section steel wire rope and the friction factor between the wire and the strand is analyzed.Secondly,the solid modeling and finite element analysis are carried out for the circular arc section of the gear train.According to the working condition of the gear train of butt locking rope drive,a three-dimensional solid model of the arc section steel wire rope is established by using UG software.The deformation mechanical properties of the steel wire rope are numerically simulated and calculated in the finite element method,and the influence of the factors such as the friction factor between the steel wire strands and between the strands and the sheaves,the pre tightening force and the sheave wrap angle are analyzed.Then,based on the simulation results of the free section and the arc section of the wire rope,the mathematical model of the deformation of the free section wire rope based on Hooke’s law is modified,and the mathematical model of the deformation of the arc section wire rope based on Euler’s formula is modified.Based on the modification of the mathematical model of the deformation of the free section and the arc section of the wire rope of the locking gear train,thetransmission error model of the single pair of the rope drive gear train is established,and the influence of the preload,the friction factor and the angle of the rope wheel on the transmission error rule of the rope drive gear train is analyzed,which lays the foundation for the research of the compensation and control of the synchronization of the locking gear train.Finally,the design of the transmission error test technology of the rope drive gear system is carried out,and the accuracy of the model is tested and studied,and the relevant test data are collected.By comparing with the predicted value of the theoretical model,the accuracy of the established transmission error model of the rope drive gear system is verified.The research of this subject provides a theoretical basis for improving the assembly accuracy of the docking cable-locked gear train,and has an important reference value for improving the assembly quality. |
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