Dissertation
Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator

Design and Analysis of Centralized Locking-Unlocking Mechanism for Space ARM

Author PengChunLei
Tutor LiuRongQiang
School Harbin Institute of Technology
Course Mechanical Design and Theory
Keywords space arm band centralized locking unlocking
CLC TP241
Type Master's thesis
Year 2008
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In order to expanding function and implement some special tasks, most space vehicles are equipped with space arms. Space arms need low strength working under low gravity or microgravity environment in outer space. In order to reduce the weight, some Thin-walled Structural Components are used. But during the Transportation and launching they have to endure complex mechanical environment: overloading、vibration、shock etc, as well as space arm equipped with motor and Reducer for implementing some special movement, so they will produce and endure strong inertial force.We have to support and lock the weak link of the space arm in order to Avoiding space arm’s Damage. Through analyzing concrete structure、dimension and external environment, one centralized band locking-unlocking mechanical device is proposed.The centralized band-locking device can protect the arm during the launching and unlocking the arm after space vehicles reach destined orbit reliably.Considering the requirements for low cost、high stiffness、high Strength and high reliability for Aerospace Product, the whole mechanical system has been designed, and an optimization design was carried out on the non-standard ratchet and pawls which used in the locking-unlocking process with MATLAB. This whole mechanical system will increase no space rubbish during working in the out space.Based on ADAMS the rigid-flexible coupling system is found, and retracting time、retracting curve、contact force of the band were analyzed, and the analysis can provide guidance for the designing of retracting device. Based on ANSYS the key parts of the centralized locking-unlocking mechanical device were analyzed, and an optimization design of the locking-unlocking control support was carried out based on parametric modeling.The locking、unlocking and shock experiment was carried out with the Principle Prototype of the centralized locking-unlocking mechanical device.Through kinematics、statics、dynamics and experiment analysis, It is verified that the centralized locking-unlocking mechanical device can lock and unlock the space arm reliably.

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