Research On The Mechanism Buffer For Spacecraft Surface Attachme

With the development of space exploration technology in the future,agility and mobility have become an important direction for the future development of on-orbit operation technology.The limitations of on-orbit operation based on robotic arms have also been gradually reflected.A space robot capable of carrying operating actuators is needed to achieve more dexterous on-orbit operation in space.However,when the space robot lands on the spacecraft,it will be subjected to a great impact force,which will affect the stability of the landing.This pape r proposes a copy cat buffering mechanism type,space robot,based on the research of the cushion mechanism the cat to jump and bionic test,leg get bionic buffering mechanism of three main configuration of joints,the kinematics,dynamics and establish th e bionic buffering mechanism and dynamics model,collision phase is analyzed by dynamics simulation of different structural parameters,the influence of the different attitude of buffer mechanism stress,A prototype of the bionic buffer mechanism was developed and tested to verify the conclusions obtained from the simulation.The buffering mechanism of the cat was analyzed,and the limbs and jumping posture were selected as the key points of the buffering research according to the bionic test.According to the needs of the research and combined with the body structure of the cat,the basic configuration of the buffering mechanism was designed.The basic configuration of the buffering mechanism was three-joint leg type and two-link body type.The kinematics of the organization of the overall coordinate model,analysis of the forward kinematics and inverse kinematics of bionic buffering mechanism,then the dynamics of the forelegs and hind legs coordinate model is set up,respectively,by using Lagrange dynamics equation set up agencies under the continuous movement of dynamics model,using the theory of collision collision moment of discrete phase dynamic model is set up.Based on dynamics theory,the use of ADAMS software to build landing buffering of biomimetic buffering mechanism simulation,from institutions ground stress change related parameters of the process,change of the leg length of bar,structural parameters,such as control variable method is used to analyze its influence on stress,it is concluded that the best ratio of bar,the control variable method is used to change the posture parameters of the mechanism,Analyze its influence on the force and get the best attitude parameters.Design and processing of the buffer organization principle prototype parts,use of prototype assembly,assembly and installation of torsional spring,fall through the slide guide prototype,thigh length of selecting different parts are assembled and repeated experiment,repeated experiments,selecting different elbow Angle to verify the structural parameters and posture pose the influence regularity of the characteristics of the buffer.