2023年 第20卷 第1期
《工程（英文）》 >> 2023年 第20卷 第1期 doi: 10.1016/j.eng.2022.05.015
基于Watt连杆的可重复使用运载火箭腿式可展开着陆机构——原理、原型设计和实验验证
a State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
b Beijing Institute of Aerospace Systems Engineering, Beijing 100076, China
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摘要
可重复使用运载火箭是降低太空运输成本的一种新途径。着陆机构是可重复使用运载火箭的重要组成部分，起到着陆支撑和吸收冲击的作用。本文提出了一种新型的可展开着陆机构（LDLM）。采用Watt-II型六杆机构，利用连杆变分法得到优选构型。本文建立了多目标优化范式，使得可展开着陆机构具有着陆支撑区域大、轻量化、连杆内力合理等优点，在此基础上，利用多目标遗传算法（NSGA-II）进化算法得到了可展开式着陆机构设计的最优尺寸参数。本文研制了全功能可重复使用运载火箭缩比样机，通过集成重力控制的展开方案促进展开动作，避免全范围驱动，采用双重锁紧机构提高展开状态时结构的可靠性，采用多级铝蜂窝缓冲器提供可靠的减震性能。实验结果表明，所提出的可展开式着陆机构能够提供快速平稳的展开（持续时间小于1.5 s），且对舱体的姿态扰动较小（偏航和俯仰波动小于6°）。此外，该机构在0.2 m自由落体测试中提供了足够的冲击衰减（加速度峰值小于10g）。所提出的可展开着陆机构可作为未来可重复使用运载火箭潜在的腿式起落架替代方案。
关键词
可重复使用运载火箭（RLV） ; 可展开机构 ; 优化设计
补充材料
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