空间站双杆机械臂转位动力学及仿真研究-机械电子工程专业毕业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - PAGE IV - - - PAGE III - Abstract With the development and progress of space technology, more and more countries have started developing space program. Space Station as a Spacecraft where astronauts can work and live for long time, Attracts more countries’ attention. From Soviet Union’s Salyut, the worlds first space station, to the greatest international space station, all have devoted efforts of researchers. With Chinese tremendous achievements in the field of manned space flight, China is planning its own space station. The formation process of the space station in space is complex. The cabin which is fired earlier is usually needed to transfer to the side interface from the front interface, and this process requires a arm to achieve. Single lever arm’s capability is limited, but dual-rod arm can not only complete the translocation task, but also perform other more complex tasks. In the translocation process, space station components will change the attitude, making the space station’s gravity gradient torque and aerodynamic torque complicated. The dynamics of the space station with two-lever arm’s translocation process is analyzed systematically. The results can be the theoretical reference for Chinese space station. The 4 main modules of the space station can be treated as 4 rigid bodies, then 4 rigid bodies is modeling based on Newton - Euler method, through the simulation using MATLAB programming tools, correctness of the dynamics mathematical model is validated. While, the simulation results show that the overall moment of inertia relative to center of mass change hugely in the translocation process of the space station. The change of the gravity gradient torque and impact from the gravity gradient torque in the translocation process of space station is analyzed. Innovative analysis result of the multi-body system’s gravity gradient torque with respect to the point deviating from center o