Optimization design of compliant joints of bionic adhesive device

被引：0
|
作者：
Cui Y. [1 ]
Song T. [2 ]
Sun J. [2 ]
Chu Z. [1 ]
机构：
[1] School of Instrumentation and Optoelectronic Engineering, Beijing University of Aeronautics and Astronautics, Beijing
[2] Shanghai Key Laboratory of Space Intelligent Control Technology, Shanghai Spaceflight Control Technology Institute, Shanghai
来源：
Chu, Zhongyi (chuzy@buaa.edu.cn) | 2018年 / Beijing University of Aeronautics and Astronautics (BUAA)卷 / 44期
关键词：
Bionic adhesive device; Compliant joint; Non-cooperative target; On-orbit capture; Parameter optimization;
D O I：
10.13700/j.bh.1001-5965.2018.0342
中图分类号：
学科分类号：
摘要：
In order to improve the adaptability of the bionic adhesive device to target motion parameters when capturing non-cooperative objects in space, a 3-degree-of-freedom series compliant joint is designed. When the joints are embedded in the system, the device can passively adapt to the moving object posture through the coordinated movement of the joints. Meanwhile, the kinetic energy of the target is gradually reduced based on the joints' compliant mechanism consisting of springs, dampers and their energy dissipation function. In order to verify and optimize the joints' performance, a kinematics and dynamics model are established for bionic adhesive device's capture process based on compliant joints using virtual prototyping software ADAMS. The effects of spring stiffness coefficient and damping coefficient on the capture state of non-cooperative objects in the three groups of compliant joints are analyzed. By the ADAMS and iSIGHT co-simulation method, a multi-island genetic algorithm is used to optimize the spring stiffness and damping coefficient of compliant joints. Through parameter optimization, the energy dissipation effect of the bionic adhesive device compliant joints is improved. The motion parameters of the target that can be captured reach the specified envelope range. © 2018, Editorial Board of JBUAA. All right reserved.
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页码：2660 / 2666
页数：6
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