Design Analysis And Attitude Adjustment Strategy Research Of Parallel Flexible Cable Spreader System

At present,the docking and separation of large spacecraft is a vertical lifting mode,and with the development of large-scale and heavy-duty spacecraft,the smoothness of the attitude adjustment process is required.In order to cope with the needs of stability and automation of the docking process of large spacecraft,this paper studies the design analysis and attitude adjustment strategy of parallel flexible cable spreader,and studies are carried out from the aspects of spreader system design,kinematic analysis,dynamic analysis and horizontal attitude adjustment strategy.The main research contents of this paper are as follows:(1)In view of the limitations of the existing spacecraft attitude adjustment assembly beam spreader,a flexible design idea is adopted,and a attitude adjustment spreader based on single-point constraint,soft cable drive,and driving branch rigid-flex hybrid is proposed.The spreader kinematics are studied,and the mathematical relationship between the input end and the output end of the mechanism is derived and verified.Based on MCD-Simulink joint communication,a spreader electromechanical concept simulation model was built to verify the correctness of the spreader kinematics positive and reverse solution.(2)Based on the dynamic response characteristics of the flexible cable spreader,the overall dynamic model of the mechanism is derived,the dynamic model is simulated and verified by MATLAB and MCD,the load dynamic parameters are identified based on the MATLAB and spreader dynamic model,and the force deformation degree and driving branch stiffness of the spreader lifting beam part are analyzed based on the spreader force.(3)The method of loading centroid capture and the mathematical relationship between horizontal angle and branch adjustment length are studied.Aiming at the problem of redundant driving of multi-branch spreader,the vertical docking attitude adjustment strategy of load is studied based on cable force distribution optimization.The static balance workspace of spreader is studied,the workspace is drawn through MATLAB,and the working space is simulated and verified.(4)Build an experimental prototype of parallel attitude spreader,and design automatic attitude adjustment solution software based on MATLAB.By formulating the experimental steps,the load leveling experiment is carried out,and the experimental results are analyzed to verify the correctness of the theoretical analysis of the attitude adjustment system.This project designs a multi-branch flexible spreader and horizontal attitude adjustment strategy for vertical docking of large spacecraft,which effectively solves the assembly task challenges caused by large weight and size of spacecraft,comprehensively improves the flexibility and automation of spacecraft assembly,and promotes the rapid development and application of China’s aerospace industry.