CAJ | 학술논문

针对国家探月三期绕月轨道航天器对接与样品转移系统地面性能试验的要求，研发了12-DOF航天模拟器气浮仿真试验台。针对运动学约束条件，提出了一种基于运动学约束的时间最优轨迹规划算法。利用SolidWorks+Labview搭建虚拟仿真平台，运用虚拟样机的柔性及样机工况环境的可重复利用性，反复试验，获得了试验台最优运动轨迹及模型最优设计参数。最后，将联合运动仿真程序部署到实际的硬件平台，实验结果表明，角度误差可控制在±0．004°以内，角速度误差小于±0．015°/s ，满足实际工程要求。
침대국가탐월삼기요월궤도항천기대접여양품전이계통지면성능시험적요구，연발료12-DOF항천모의기기부방진시험태。침대운동학약속조건，제출료일충기우운동학약속적시간최우궤적규화산법。이용SolidWorks+Labview탑건허의방진평태，운용허의양궤적유성급양궤공황배경적가중복이용성，반복시험，획득료시험태최우운동궤적급모형최우설계삼수。최후，장연합운동방진정서부서도실제적경건평태，실험결과표명，각도오차가공제재±0．004°이내，각속도오차소우±0．015°/s ，만족실제공정요구。
Aimed at the demand of docking and sample transfer simulation platform on the ground serving third phase of a three-step moon motion, 12-DOF Space Simulator flotation simulation platform is designed. A new time-optimal trajectory planning algorithm is proposed based on kinematic constraints. The virtual Pro-totype is constructed in SolidWorks and Labview. Optimal trajectories and design parameters are obtained at the advantage of flexible and reusability of virtual simulation platform. Lastly, Deploying joint simulation program to actual simulation platform, the results show that angle error can be controlled within ± 0. 004° and angular velocity error is less than ± 0. 015°/s ,what meets actual engineering requirements.