航天器对接试验台三轴姿态调整锁定机构研究

针对航天器特性、试验台系统技术要求及对接初始姿态设定的要求，研制了一套三轴姿态调整锁定机构，实现调整过程简便、解锁迅速、质量轻、安全可靠、精度高．采用D—H坐标系建立了动力学模型，进行了初始结构和驱动参数设计．在此基础上，应用虚拟样机技术对机构进行了设计可行性验证及进一步参数优化．仿真表明根据空间机构原理设计的三轴调整锁定机构能够达到指标要求的运动空间，无运动死点，结构合理，空间对接前解锁迅速．以驱动力作为优化目标，通过敏感度分析，确定了合理的优化结构参数，使机构所需驱动力下降了7．8％，并且转臂和连杆结构质量轻、安装灵活方便．

Three-freedom attitude adjusting and locking mechanism of spacecraft docking test table

According to the characteristic of spacecraft, the technical requirement of test table system and the requirement to the initial docking attitude, a set of three - freedom adjusting and locking mechanism with adjusting simple, unlocking rapidly, light weight, safety and high precision is presented. Dynamics model is built by D - H coordinate. The initial structure and driving parameters design are given. Design validation and the mechanism optimization have been made by the virtual prototype technology. Simulation shows that three -freedom attitude adjusting and locking mechanism based on the principle of the space mechanism can meet the demand for motion space. The mechanism has no dead center, and whose structure is reasonable with unlocking rapidly before the space docking. The drive force is used as the optimal objective, the appropriate optimal parameters are obtained by the sensitivity analysis, which make the drive force decrease 7. 8% . Revolving arm and connecting rod are designed rationally with light mass and installed flexibly and conveniently.