CN106697339A - Lunar lander attitude simulation device based on space three-degree-of-freedom just restraining mechanism - Google Patents
Lunar lander attitude simulation device based on space three-degree-of-freedom just restraining mechanism Download PDFInfo
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- CN106697339A CN106697339A CN201611268384.0A CN201611268384A CN106697339A CN 106697339 A CN106697339 A CN 106697339A CN 201611268384 A CN201611268384 A CN 201611268384A CN 106697339 A CN106697339 A CN 106697339A
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- ups
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- pedestal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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Abstract
The invention provides a lunar lander attitude simulation device based on space three-degree-of-freedom just restraining mechanism and a manufacturing method thereof. The lunar lander attitude simulation device comprises a base, a supporting platform, a just restraining PU branched chain, three UPS branched chains and a set of supporting legs. All the UPS branched chains are arranged between the base and the supporting platform at intervals; the upper ends of all the UPS branched chains are connected with the lower portions of the supporting platform through spherical hinges; and the lower ends of all the UPS branched chains are connected with the upper portion of the base through hook hinges. The upper end of the just restraining PU branched chain is connected to the supporting platform through a hook hinge; and the lower end of the just restraining PU branched chain is connected to the base. All the supporting legs are arranged around the supporting platform at intervals. The just restraining PU branched chain can effectively improve the rigidity of the lunar lander attitude simulation device, and the stability and the reliability of the lunar lander attitude simulation device are guaranteed.
Description
Technical field
It is more particularly to a kind of to be based on the proper constraint mechanism of space three-freedom the present invention relates to a kind of landing attitude analogue means
Landing attitude analogue means and its manufacture method, the landing attitude analogue means be by computer controls for simulate land
The integrated apparatus that interface and platform are provided for the special experiment of sampling encapsulation of attitude.
Background technology
It is most true and reliable to obtain by simulated test when extraterrestrial ball border and its real state characteristic in surface is studied
Star face soil sampling analysis data, it is therefore desirable to carry out ground simulation satellite surface sample experiment.Machinery is taken using rig and table
Dust or rock are drilled through under different attitudes for arm and table takes sampling, and the device for adjusting posture of experiment is supported on into simulation
In the environment of outer celestial body, with for it is various drill through, table taking equipment provides accurate interface position, research and analyse and obtain simulation star face
The test data of sampling.
The unmanned collection of sample, encapsulation are preserved and shifted under star face ring border, involve the solution of many technical barriers.In order to
The correctness and movement interference of equipment installation site that inspection is drilled through, table takes etc. to many situations of encapsulation process of sampling, it is necessary to exist
Ground is simulated and l-G simulation test in advance so that each equipment can safely and reliably be run.
In order to coordinate celestial body to explore the implementation of engineering, the sampling that need to carry out the environmental simulation of star face encapsulates grinding for special experiment
Study carefully, and rig that attitude-adjusting system is installed on it, table take mechanical arm and constitute the special pilot system of sampling encapsulation.Pose adjustment
Mechanism's various landing attitudes in star face for equipment thereon is provided, and be checking sampling encapsulation relevant device mounting arrangement, work
The interface relationship such as move and verification condition is provided.Attitude-adjusting system is in above the analog platform in simulation star face, for sampling is sealed
Installing is standby to provide more real target and working environment, check the gradient in sampling sealed in unit and star face, table modulus to intend etc.
The mutual cooperation relation of state.
Adjust attitude-adjusting system attitude just can analog machine star face various landing attitudes.In these landing attitudes
Under various l-G simulation tests can be carried out to equipment, real-time acquisition table takes the various situations and data during drill-action, and can check
Interference problem between equipment.The design of attitude-adjusting system is setting for a key feature of whole sampling encapsulation experiment
Meter.Its technology is complex and can provide the research platform of the theoretical side in later stage.Therefore, a rational attitude is designed to adjust
Whole mechanism has very important significance.Also for the smooth realization that the sampling of extraterrestrial talent scout's rope engineering is returned provides verification experimental verification
Foundation stone.Therefore, the present invention provides a kind of landing attitude analogue means based on the proper constraint mechanism of space three-freedom, to overcome
Above-mentioned difficulties, and the present invention also provides a kind of manufacture method of landing attitude analogue means.
The content of the invention
It is an object of the invention to provide a kind of landing attitude analogue means based on the proper constraint mechanism of space three-freedom and
It by computer controls for simulate landing attitude is sampling encapsulation that its manufacture method, wherein the landing attitude analogue means are
Special project experiment provides the integrated apparatus of interface and platform.
In order to achieve the above object, the present invention provides a kind of landing attitude mould based on the proper constraint mechanism of space three-freedom
Intend device, the landing attitude analogue means that should be wherein based on the proper constraint mechanism of space three-freedom includes pedestal, a branch
Peaceful, one just constrains PU side chains, three UPS side chains and one group of supporting leg, and each UPS side chain is set spaced reciprocally
Between the pedestal and the supporting platform, and the upper end of each UPS side chain passes through ball pivot and the bottom of the supporting platform
It is connected, the bottom of each UPS side chain is cut with scissors by Hooke and is connected with the top of the pedestal, and this just constrains the upper of PU side chains
End is hinged by Hooke and is connected to the supporting platform, and the bottom for just constraining PU side chains is connected to the pedestal, each support
Leg is arranged at the surrounding of the supporting platform spaced reciprocally.
As to the further of the landing attitude analogue means that should be based on the proper constraint mechanism of space three-freedom of the invention
Preferred embodiment, the upper end of each UPS side chain is connected to the outer edge of the supporting platform by each ball pivot respectively,
The bottom of each UPS side chain is hinged by each Hooke is connected to the outer edge of the pedestal respectively, and this just constrains PU side chains
Upper end be hinged by the Hooke and be connected to the middle part of the supporting platform, the bottom for just constraining PU side chains is connected to the pedestal
Middle part.
As to the further of the landing attitude analogue means that should be based on the proper constraint mechanism of space three-freedom of the invention
Preferred embodiment, the bottom of each UPS side chain is set in the shape of isosceles triangle, the upper end of each UPS side chain
Portion in isosceles triangle shape set, and each UPS side chain bottom formed isosceles triangle shape and each
The isosceles triangle shape that the upper end of the UPS side chains is formed is consistent.
The present invention also provides a kind of manufacture method of landing attitude analogue means, the wherein system of the landing attitude analogue means
Making method includes step：
I：Three spaced UPS side chains, wherein each UPS are set between a pedestal and a supporting platform
The upper end of side chain is connected by ball pivot with the supporting platform, and the bottom of each UPS side chain is cut with scissors and the base by Hooke
Seat is connected；And
II：The just constraint PU side chains of setting one between the pedestal and the supporting platform, the wherein proper constraint PU side chains
Upper end is cut with scissors by Hooke and is connected with the supporting platform, and the bottom of the PU side chains is connected with the pedestal, is somebody's turn to do with being obtained
Land attitude-simulating device.
As the further preferred embodiment of the manufacture method to the landing attitude analogue means of the invention, the landing
The manufacture method of attitude-simulating device also includes step：
III：Along the outer edge of the supporting platform, one group of spaced supporting leg is set, so that each supporting leg
Free end is towards the pedestal direction.
As the further preferred embodiment of the manufacture method to the landing attitude analogue means of the invention, in the step
In rapid I, the upper end of each UPS side chain is connected to the outer edge of the supporting platform by each ball pivot respectively, and each should
The bottom of UPS side chains is hinged by each Hooke is connected to the outer edge of the pedestal respectively, and in step II, this is proper
The upper end for constraining PU side chains is connected to the middle part of the supporting platform by Hooke hinge, and the bottom for just constraining PU side chains connects
It is connected to the middle part of the pedestal.
Used as the further preferred embodiment of the manufacture method to the landing attitude analogue means of the invention, each should
The bottom of UPS side chains is set in the shape of isosceles triangle, and the upper end of each UPS side chain is in the shape of isosceles triangle
Set, and the isosceles triangle shape of the bottom formation of each UPS side chain is formed with the upper end of each UPS side chain
Isosceles triangle shape it is consistent.
It is of the invention should be based on the proper constraint mechanism of space three-freedom the advantage of landing attitude analogue means be：
The landing attitude analogue means that the proper constraint mechanism of space three-freedom should be based on of the invention includes pedestal, one
Individual supporting platform, proper constraint PU side chains, three UPS side chains and one group of supporting leg, each UPS side chain is spaced reciprocally
It is arranged between the pedestal and the supporting platform, and the upper end of each UPS side chain passes through ball pivot with the supporting platform
Bottom is connected, and the bottom of each UPS side chain is cut with scissors by Hooke and is connected with the top of the pedestal, and this just constrains PU side chains
Upper end by Hooke be hinged be connected to the supporting platform, the bottom for just constraining PU side chains is connected to the pedestal, each should
Supporting leg is arranged at the surrounding of the supporting platform spaced reciprocally, and wherein the proper constraint PU side chains can effectively increase the landing
The rigidity of attitude-simulating device, to ensure the stability and reliability of the landing attitude analogue means.
Preferably, the bottom of each UPS side chain in isosceles triangle shape set, each UPS side chain it is upper
End is set in the shape of isosceles triangle, and the isosceles triangle shape that is formed of bottom of each UPS side chain and each
The isosceles triangle shape that the upper end of the individual UPS side chains is formed is consistent, and this arrangement of each UPS side chain can be
The attitude landing adjusting apparatus provide enough working spaces, and can improve the experiment essence of the landing attitude analogue means
Degree.
The landing attitude analogue means makes the landing attitude by three UPS side chains and the proper constraint PU side chain
The compact conformation of analogue means, space rationally, and with good rigidity, can either realize the tune of three degree of freedom attitude
Error whole, that the parallel form of complexity can be avoided to produce again, meets experiment to high accuracy, the requirement of high bearing capacity.In addition,
The range of movement of the landing attitude analogue means is big, high precision, operationally shows good stability and reliability.Separately
Outward, the landing attitude analogue means also has the advantage that：
1st, the three degree of freedom implementation of the landing attitude analogue means is simple, and each free degree can be avoided mutual
Produced many solutions and error during coupling, to ensure the precision of the landing attitude analogue means.
2nd, under limited space limitation, the landing attitude analogue means can avoid interference with and improve the landing attitude mould
Intend the reasonability of device rigidity in itself and structure, so that it is the compact conformation of the landing attitude analogue means, rationally distributed, and
With larger range of movement, rigidity and bearing capacity are increased.
3rd, the landing attitude analogue means will not be produced and rotated around vertical direction, but strict guarantee is revolved around X-axis and Y-axis
Turn, it is accurate, reliable with the free degree for ensureing the landing attitude analogue means.
4th, each UPS side chain of the landing attitude analogue means does not take exterior space, so that the landing appearance
The compact conformation of state analogue means, spatial reuse, and with the stability more leaned on.
5th, each moving component of the landing attitude analogue means uses conventional components, and low cost, reliability are high, controlling party
Method is simple.
6th, simple for structure, the technology maturation of the landing attitude analogue means, and driven using precision ball screw, precision
High, dynamic characteristic is good, and the landing attitude analogue means can have good athletic performance in vacuum environment.
7th, the range of application light of the landing attitude analogue means, is applicable not only to the sampling examination on wind tunnel simulation celestial body surface
Test, and can apply to the industry such as lathe, aircraft simulation, military and national defence major fields.
Brief description of the drawings
In order to obtain above and other advantage of the invention and feature, hereinafter with reference to the tool of the invention shown in accompanying drawing
Body embodiment carries out more specific description to the present invention outlined above.It should be understood that these accompanying drawings illustrate only the present invention
Exemplary embodiments, therefore be not construed as limiting the scope of the present invention, by using accompanying drawing, the present invention will be carried out more
Specific and more detailed description and elaboration.In the accompanying drawings：
Fig. 1 is the schematic diagram of the landing attitude analogue means based on the proper constraint mechanism of space three-freedom of the invention.
Fig. 2 is the internal structure of the landing attitude analogue means based on the proper constraint mechanism of space three-freedom of the invention
Schematic diagram.
Fig. 3 is the internal structure of the landing attitude analogue means based on the proper constraint mechanism of space three-freedom of the invention
Schematic diagram.
Fig. 4 is the sketch of the landing attitude analogue means based on the proper constraint mechanism of space three-freedom of the invention.
Fig. 5 is the signal of the principle of the landing attitude analogue means based on the proper constraint mechanism of space three-freedom of the invention
Figure.
Fig. 6 is the UPS side chains of the landing attitude analogue means based on the proper constraint mechanism of space three-freedom of the invention
Closing schematic vector diagram.
Fig. 7 is that the manufacturing step of the landing attitude analogue means based on the proper constraint mechanism of space three-freedom of the invention shows
It is intended to.
Specific embodiment
Hereinafter describe for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in below describing
Embodiment is selected to be only used as citing, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and without the back of the body
From the other technologies scheme of the spirit and scope of the present invention.
As shown in Figures 1 to 5, spirit under this invention provides a kind of based on the proper constraint mechanism of space three-freedom
Landing attitude analogue means, the landing attitude analogue means that should be based on the proper constraint mechanism of space three-freedom includes a pedestal
10th, a supporting platform 20, just constrains 30, three UPS side chains 40 of PU side chains and one group of supporting leg 50, each UPS
Side chain 40 is arranged between the pedestal 10 and the supporting platform 20 spaced reciprocally, and each UPS side chain 40 upper end
It is connected with the bottom of the supporting platform 20 by ball pivot 60, the bottom of each UPS side chain 40 is cut with scissors 70 and is somebody's turn to do by Hooke
The top of pedestal 10 is connected, and the upper end for just constraining PU side chains 30 is cut with scissors 70 and is connected to the supporting platform 20 by Hooke, should
The bottom of just constraint PU side chains 30 is connected to the pedestal 10, and each supporting leg 50 is arranged at the supporting platform spaced reciprocally
20 surrounding, the rigidity of the landing attitude analogue means can be improved by the proper constraint PU side chains 30, so that the landing attitude
Analogue means has stability and reliability higher.
Preferably, the upper end of each UPS side chain 40 is connected to the supporting platform 20 by each ball pivot 60 respectively
Outer edge, the bottom of each UPS side chain 40 cuts with scissors 70 outer edges for being connected to the pedestal 10 by each Hooke respectively,
70 middle parts for being connected to the supporting platform 20 are cut with scissors in the upper end of the proper constraint PU side chains 30 by the Hooke, and this just constrains PU side chains
30 bottom is connected to the middle part of the pedestal 10.
It is highly preferred that the bottom of each UPS side chain 40 is set in the shape of isosceles triangle, each UPS side chain
40 upper end in isosceles triangle shape set, and each UPS side chain 40 bottom formed isosceles triangle
The isosceles triangle shape that the upper end of shape and each UPS side chains 40 is formed is consistent, thinks the landing attitude analogue means
Enough working spaces are provided, and ensure that the landing attitude analogue means participates in the precision of experiment.The landing attitude analogue means
Each free degree be achieved in that, turn about the X axis by two in each UPS side chain 40 for being arranged in isosceles triangle
What the drive mechanism of the individual symmetrically UPS side chains 40 was realized, rotated around Y-axis and joined by the drive mechanism of each UPS side chain 40
Close what is realized, be to drive what is realized in the same direction simultaneously by the drive mechanism of each UPS side chain 40 along Z axis movement.
As shown in figure 5, UiIt is the fixed platform Hooke's hinge center that the pedestal 10 is formed, SiIt is moving that the supporting platform 20 is formed
Platform ball pivot center.Set up an office UiVector in position fixing system O-XYZ is denoted as ai；Point SiArrow in moving coordinate system O'-X'Y'Z'
Amount is denoted as bi；uiIt is the unit vector of lift leading screw；P is vector of the moving coordinate system origin in position fixing system；liIt is defined as
The bar of i root leading screws is long.ai, Rbi, lui, p constitutes the vector of closed loop.
Can be obtained from Fig. 6：
liui=Rbi-ai+ p i=1,2,3
Because the moving platform of the landing attitude analogue means does not rotate in z-direction relative to silent flatform, i.e. the anglec of rotation
Degree γ=0 can obtain in substituting into 3.1 formulas
The position-based routing Mathematical Modeling of the landing attitude analogue means can be directly obtained by above formula：
UiIt is a in the vector representation in position fixing system O-XYZi=(xai,yai,zai)T, point BiIn moving coordinate system O1-
X1Y1Z1In be expressed as bi=(xbi,ybi,zbi)T, p=(xp,yp,zp)T。ai, bi, the coordinate of p can measure from threedimensional model
Come.
As Fig. 7, the present invention also provide a kind of manufacture method of landing attitude analogue means, wherein landing attitude simulation is filled
The manufacture method put includes step：
I：Three spaced UPS side chains 40 are set between a pedestal 10 and a supporting platform 20, wherein respectively
The upper end of the individual UPS side chains 40 is connected by ball pivot 60 with the supporting platform 20, and the bottom of each UPS side chain 40 leads to
Hooke hinge 70 is crossed to be connected with the pedestal 10；And
II：One just constraint PU side chains 30, the wherein proper constraint PU are set between the pedestal 10 and the supporting platform 20
The upper end of side chain 30 is cut with scissors by Hooke and 70 is connected with the supporting platform 20, the bottom of the PU side chains 30 and the phase of pedestal 10
Connection, so that the landing attitude analogue means is obtained.
Further, the manufacture method of the landing attitude analogue means also includes step：
III：One group of spaced supporting leg 50 is set along the outer edge of the supporting platform 20, so that each support
The free end of leg 50 is towards the pedestal direction.
One embodiment of the present of invention has been described in detail above, but the content is only preferable implementation of the invention
Example, it is impossible to be considered as limiting practical range of the invention.All impartial changes made according to the present patent application scope and improvement
Deng all should still belong within patent covering scope of the invention.
Claims (7)
1. a kind of Lunar satellite orbit attitude-simulating device based on the proper constraint mechanism of space three-freedom, it is characterised in that the base
In the landing attitude analogue means of the proper constraint mechanism of space three-freedom include pedestal, supporting platform, one just about
Beam PU side chains, three UPS side chains and one group of supporting leg, each UPS side chain are arranged on the pedestal and the branch spaced reciprocally
Between peaceful, and the upper end of each UPS side chain is connected by ball pivot with the bottom of the supporting platform, and each should
The bottom of UPS side chains is cut with scissors by Hooke and is connected with the top of the pedestal, and the upper end for just constraining PU side chains passes through Hooke
Hinge is connected to the supporting platform, and the bottom for just constraining PU side chains is connected to the pedestal, and each supporting leg is spaced reciprocally
It is arranged at the surrounding of the supporting platform.
2. a kind of landing attitude analogue means based on the proper constraint mechanism of space three-freedom as claimed in claim 1, it is special
Levy and be, the upper end of each UPS side chain is connected to the outer edge of the supporting platform by each ball pivot respectively, each should
The bottom of UPS side chains is hinged by each Hooke is connected to the outer edge of the pedestal respectively, and this just constrains the upper end of PU side chains
Portion is hinged by the Hooke and is connected to the middle part of the supporting platform, and the bottom for just constraining PU side chains is connected in the pedestal
Portion.
3. a kind of landing attitude analogue means based on the proper constraint mechanism of space three-freedom as claimed in claim 2, it is special
Levy and be, the bottom of each UPS side chain is set in the shape of isosceles triangle, the upper end of each UPS side chain in etc.
The shape of lumbar triangle shape is set, and each UPS side chain the isosceles triangle shape that is formed of bottom and each UPS branch
The isosceles triangle shape that the upper end of chain is formed is consistent.
4. a kind of manufacture method of landing attitude analogue means, it is characterised in that the manufacture method of the landing attitude analogue means
Including step：
I：Three spaced UPS side chains, wherein each UPS side chain are set between a pedestal and a supporting platform
Upper end be connected with the supporting platform by ball pivot, the bottom of each UPS side chain is cut with scissors and the pedestal phase by Hooke
Connection；And
II：One just constraint PU side chains, the wherein upper end of the proper constraint PU side chains are set between the pedestal and the supporting platform
Portion is cut with scissors by Hooke and is connected with the supporting platform, and the bottom of the PU side chains is connected with the pedestal, so that the landing appearance is obtained
State analogue means.
5. a kind of manufacture method of landing attitude analogue means as claimed in claim 4, it is characterised in that the landing attitude mould
The manufacture method for intending device also includes step：
III：One group of spaced supporting leg is set along the outer edge of the supporting platform, so that the freedom of each supporting leg
Hold towards the pedestal direction.
6. a kind of manufacture method of landing attitude analogue means as claimed in claim 4, it is characterised in that in step I,
The upper end of each UPS side chain is connected to the outer edge of the supporting platform by each ball pivot respectively, each UPS side chain
Bottom be hinged by each Hooke be connected to the outer edge of the pedestal respectively, and in step II, this just constrains PU
The upper end of side chain is hinged by the Hooke and is connected to the middle part of the supporting platform, and the bottom for just constraining PU side chains is connected to this
The middle part of pedestal.
7. a kind of manufacture method of landing attitude analogue means as claimed in claim 6, it is characterised in that each UPS branch
The bottom of chain is set in the shape of isosceles triangle, and the upper end of each UPS side chain is set in the shape of isosceles triangle,
And what the isosceles triangle shape and the upper end of each UPS side chain that the bottom of each UPS side chain is formed were formed etc.
Lumbar triangle shape shape is consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268384.0A CN106697339A (en) | 2016-12-31 | 2016-12-31 | Lunar lander attitude simulation device based on space three-degree-of-freedom just restraining mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268384.0A CN106697339A (en) | 2016-12-31 | 2016-12-31 | Lunar lander attitude simulation device based on space three-degree-of-freedom just restraining mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106697339A true CN106697339A (en) | 2017-05-24 |
Family
ID=58906451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611268384.0A Pending CN106697339A (en) | 2016-12-31 | 2016-12-31 | Lunar lander attitude simulation device based on space three-degree-of-freedom just restraining mechanism |
Country Status (1)
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| CN (1) | CN106697339A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112558019A (en) * | 2020-12-14 | 2021-03-26 | 北京遥感设备研究所 | Pseudo code modulation-based extra-terrestrial celestial body landing measurement radar transmitting and receiving isolation system |
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Application publication date: 20170524 |