空间对接机构缓冲系统及其运动学建模

以异体同构周边式对接机构差动式缓冲系统为对象 ,将缓冲机构分解成 6个独立分支 ,通过设立局部坐标系 ,建立缓冲系统运动学正、逆解模型。该建模方法可以消除各分支之间的耦合关系 ,使建模得以简化。算例说明这种缓冲系统运动学模型是正确有效的。

A new method is presented, based on separating the differential damping mechanism into six independent branches and establishing local coordinate systems, for solving the kinematics problem of androgynous peripheral assembly system (APAS). Example is included to demonstrate the application of the method. It is shown that this method eliminates the coupling among branches and simplifies the solution of the position kinematics problem.