在轨替换单元杆锥式三维碰撞动力学行为

To study the contact collision dynamics of the ORU and the target spacecraft during the positioning guidance processes, taking the target spacecraft and ORU equipped with rod-cone positioning and guiding structure as the research object, a three-dimensional collision dynamics model(NE-CR-LN (Newton-Euler cone-rod Lankarani-Nikravesh) three-dimensional contact dynamics model) was developed for the positioning guidance processes of the spacecrafts and the ORU, taking into account the structural characteristics of the positioning guidance mechanisms and the actual positioning processes, and the cone-rod collision detection equation was derived in three-dimensional space was derived. The model applied the method of vector analysis, considering the characteristics of the cone-rod guidance system, four different contact conditions were divided. The model simulation results are compared with LS-DYNA simulation ones and literature models to verify the correctness of the NE-CR-LN dynamics model. According to the simulations and dynamic analysis results of ORU in contact and collision processes with typical working conditions, the actual collision regularity may be predicted by the NE-CR-LN three-dimensional contact dynamics model.