| 差动式机电缓冲阻尼系统逆运动学研究 |
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| 引用本文： | 康健,管迪华,宋健,张凤桐.差动式机电缓冲阻尼系统逆运动学研究[J].清华大学学报(自然科学版),1998(2). |
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| 作者姓名： | 康健 管迪华 宋健 张凤桐 |
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| 作者单位： | 清华大学,汽车工程系,北京,100084 |
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| 摘 要： | 研究了用于空间飞行器对接机构中的差动式机电缓冲阻尼系统的逆运动学。对于此类串并联复合的系统提出了一种运动学分析方法。分析了约束五自由度输入下的系统运动学特性，得到了空间六自由度及约束五自由度输入下系统的具有差动式特点的位移、速度、加速度变换方程，以及构件速度矢量、加速度矢量的分析方程，并进行了实例系统的计算分析。应用本文方法可进行该系统的功能校核和运动学特性等分析，在此基础上，可对系统的缓冲阻尼特性进行动力学分析。
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| 关 键 词： | 空间对接机构 运动学 差动装置 |
Inverse kinematics of the mechano-electronic spring-damper system with differential connections |
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| KANG Jian,GUAN Dihua,SONG Jian,ZHANG Fengtong.Inverse kinematics of the mechano-electronic spring-damper system with differential connections[J].Journal of Tsinghua University(Science and Technology),1998(2). |
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| Authors: | KANG Jian GUAN Dihua SONG Jian ZHANG Fengtong |
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| Institution: | KANG Jian,GUAN Dihua,SONG Jian,ZHANG Fengtong Department of Automotive Engineering,Tsinghua University,Beijing 100084,China |
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| Abstract: | Presented is an analysis of the inverse kinematics of a mechano electronic spring damper system of differential type applied in the docking mechanism of spacecraft. An algorithm for kinematical analysis of this coupled system with both serial and parallel conections is presented. The transfer equations of the displacement, velocity and acceleration of the whole differential system under 5 dof(degree of freedom) constrained mode input and 6 dof free mode input are given. The algorithm also gives vector analytical equations of the velocity and the acceleration of the parts of the system. Function analysis for system validation and the analysis of kinematical characteristics of the system can be performed with the method pressented. An example is given. On this basis, the dynamical analysis of the elastic and damping characteristics of the system can be performed. |
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