CAJ | 학술논문

面向空间对接的需求，成功研制了一种6 PSS并联式调姿机构样机。针对该机构的结构特点，建立了三维模型；经运动学分析得到电机控制脉冲变量，并利用虚拟样机技术和物理样机实验进行了运动仿真；最后提出了工作展望。结果表明，调姿机构的位置输出能正确跟踪期望的轨迹，验证了结构设计的合理性和控制的有效性。
면향공간대접적수구，성공연제료일충6 PSS병련식조자궤구양궤。침대해궤구적결구특점，건립료삼유모형；경운동학분석득도전궤공제맥충변량，병이용허의양궤기술화물리양궤실험진행료운동방진；최후제출료공작전망。결과표명，조자궤구적위치수출능정학근종기망적궤적，험증료결구설계적합이성화공제적유효성。
Faced with the demand for space docking,a 6 PSS parallel attitude adjustment mechanism prototype was successfully developed. Firstly,on account of its structural characteris-tics,a three dimensional model was established. Secondly,motor control pulse variables were ob-tained by kinematic analysis,and motion simula-tion was conducted by virtual prototyping technol-ogy and physical prototype experiments.Finally, future expectations were proposed.The results showed that its location output could correctly track the desired trajectory,which demonstrated the validity of structure design and control meth-od.