空间对接机构ADAMS-数字样机建模与仿真

2003MSC.SoftwareMSC.ADAMS-1-2003MSC.SoftwareMSC.ADAMSSpacedockingmechanismvirtualprototypingmodelingandsimulationbyMSC.ADAMS():Pro/EMSC.ADAMSFortran:MSC.ADAMSAbstract:ThepaperbrieflydescribesdockingmechanismandstudiesitsattenuationprincipleaccordingtoAPASsystems.ThedockingmechanismvirtualprototypingmodelisestablishedbyusingAutomaticDynamicAnalysisofMechanicalSystems(MSC.ADAMS),whichconsistsofoveronehundredthree-dimensionalpartsandsub-assemblies,suchascapturering,helixmechanism,differentialassembly,spring,electromagneticdamperandfrictionclutch.Simulatedtheextended,buffering,retract.Accordingtothetestingresults,thespringmodelsweremodifiedwiththeFortransubroutineinMSC.ADAMS/solver.Variouscharacteristicsofthemechanism’sresponsewerediscoveredandexplainedwiththeanalysistools.Thesefindingshavebeenessentialinensuringasuccessfulmission.Keywords:dockingmechanismvirtualprototypingsimulationMSC.ADAMS1——,Pro/EMSC.ADAMS-2-2003MSC.Software2MSC.ADAMSMSC.ADAMSPro/EMSC.ADAMSPro/EMECHANISM/ProMSC.ADAMSPro/E1101Parts6CylindricalJoints98RevoluteJoints6RevoluteJoints15FixedJoints7Couplers51Gears1Pro/E22.12.1.12tl0•1ω2ωRL)(2120LLLtlωωπ+=•)(2120RRRtlωωπ−=•(1)0φ-3-2003MSC.Software1φααφφcos/tan10=tansinAω1−Rαα2Rω2t=)))lL•2R11220cos1cosωφααω−=(2)RLB110ωω==(3)LLLA122cossincosφαα=RRB122cossin1cosφ−=222ωωω==RL0122tlLLLπωω•=+012tlRRπω•=−(4))()(00BAllABRL+−••πω(5))((201BAllBtRLL+−=••πω((201BAlAtRR+−=•πω(6))()(2022BAlBlAtRLL++===••πωωω(7)5-72.1.2MSC.ADAMS33MSC.ADAMSa.screwjoint(cylindricaljoint)b.revolutejoints-4-2003MSC.Softwarec.gearsd.revolutee.couplers2.1.12.2MSC.ADAMSFortran2.2.14BuildDataElementSpline4ADAMSAZAnglealongZ-axis5a.AKISPLAKISPL(AZ(JOINT_7_2_MAR_J,SSP.JOINT_7_2_MAR_I),0,SPLINE_SINGLSPRING)b.AZ(JOINT_7_2_MAR_J,SSP.JOINT_7_2_MAR_I)c.SPLINE_SINGLESPRINGd.001452.2.26MSC.ADAMS/ViewFortranSUBROUTINEVTOSUB(ID,TIME,PAR,NPAR,DFLAG,IFLAG,RESULT)VTOSUBIDVTOSUBID-5-2003MSC.SoftwareTIMEPARNPARPAR6DFLAGIFLAGRESULT+−++−=)3()()4()2()()1()(33034412021bkbkbkkTθθθθθθθ2.3MSC.ADAMS,MSC.ADAMS77MSC.ADAMS3MSC.ADAMSMemorymodel(View/Solver)Huge8989-6-2003MSC.Software4MSC.ADAMS,MSC.ADAMSMSC.ADAMS5[1]1998[2]1992[3]1999-7-