Research of Transmission Error Modeling and Its Parameter Sensitivity of the Cable-driven Sheave

Xu Chuntian; Wang Peng

doi:10.16578/j.issn.1004.2539.2018.05.006

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Research of Transmission Error Modeling and Its Parameter Sensitivity of the Cable-driven Sheave

更新时间：2022-10-20

- Research of Transmission Error Modeling and Its Parameter Sensitivity of the Cable-driven Sheave
- Vol. 42, Issue 5, Pages: 31-36(2018)
- 作者机构：
  
  1. 辽宁科技大学机械工程与自动化学院
  2. 上海航天设备制造总厂
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.05.006
  CLC：
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[1]许春田,王朋.索驱轮系传动误差建模及其参数敏感度研究[J].机械传动,2018,42(05):31-36.

Xu Chuntian, Wang Peng. Research of Transmission Error Modeling and Its Parameter Sensitivity of the Cable-driven Sheave. [J]. 42(5):31-36(2018)
[1]许春田,王朋.索驱轮系传动误差建模及其参数敏感度研究[J].机械传动,2018,42(05):31-36. DOI： 10.16578/j.issn.1004.2539.2018.05.006.

Xu Chuntian, Wang Peng. Research of Transmission Error Modeling and Its Parameter Sensitivity of the Cable-driven Sheave. [J]. 42(5):31-36(2018) DOI： 10.16578/j.issn.1004.2539.2018.05.006.

摘要

索驱轮系运动同步性是涉及两航天器交会对接的一项关键技术,其保证的难易程度可用参数敏感度来反映。为获得索驱轮系传动误差对参数的敏感度,先基于索驱轮系驱动过程钢索产生的形变建立了其传动误差模型,确定了传动误差影响因素。然后针对传动误差与参数间存在的复杂非线性关系,采用指数曲线拟合法,将该模型简化成传动误差与单因素关系,建立了参数敏感度方程,分析了参数敏感度对索驱轮系传动误差的影响,为实现航天器对接同步性有效控制,提高其装配效率提供一定参考。

Abstract

The synchronous accuracy of cable-driven sheaves is a key technology for the rendezvous and docking of two spacecrafts. And how difficult it is guaranteed can be reflected by parameter sensitivity. To obtain parameter sensitivity to transmission error of cable-driven sheaves,a prediction model for their transmission error is firstly built based on cable deformation in their driving process and the factors influencing on transmission error are determined. Then,in view of the complicated nonlinear relations between the parameters and transmission error of the cable-driven sheaves,a method for fitting data with an exponential curve is proposed,by which this model is simplified as relations between the transmission error and single factor. And the equation for parameter sensitivity is established. Finally,the parameter sensitivity effects on transmission error of the cable-driven sheaves are analyzed. This can provide a reference in effective controlling the synchronous accuracy of the spacecraft docking and in improving their assembly efficiency.

关键词

索驱轮系参数敏感度钢索形变传动误差

Keywords

Cable-driven sheaveParameter sensitivityCable deformationTransmission error

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