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针对航天员开展舱外活动时与舱体的可靠连接和工作位姿的调节与固定这两个亟待解决的问题,提出了一种舱外活动用新型三关节便携式脚限位器的设计,阐述了其结构组成和工作原理,确定了其系统方案和技术参数;基于静力学和有限元分析,对设计进行了结构优化,利用ADAMS软件对该装置进行了运动学和动力学仿真分析,验证了该装置通过三个关节机构实现折叠状态和调节位姿的有效性,获得了主要关节位姿调节的运动学和动力学特性,为该装置的结构改进和优化奠定了基础。
Aiming at the two urgent problems that need to be solved, such as the reliable connection between the astronauts and the pods and the adjustment and fixing of the working posture during the extravehicular activities, a new type of three-legged portable foot stopper for extracavity activities is proposed. The structure and working principle of the system were established, and its system scheme and technical parameters were determined. Based on the statics and finite element analysis, the design of the system was optimized. The kinematics and dynamics simulation of the system was carried out by using ADAMS software. The device achieves the folding state and adjusts the posture by three joint mechanisms, obtains the kinematics and dynamics characteristics of the main joint pose adjustment, and lays the foundation for the structural improvement and optimization of the device.