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面向未来行星表面探测任务,航天服的活动性能需要进一步提高。为此,应改进航天服软关节的结构形式。根据等张力体形状内部承压时不存在周向应力的理论,在该曲面周向上加入褶片结构,设计出了带褶皱的等张力体关节,使之能够沿周向弯曲或伸展。为验证关节性能,利用柔性单自由度关节测量设备,进行了多次加卸载和不同运动范围的力矩特性研究,分析了关节的几何形态、等容性以及主应力状态,并将该关节与无褶皱的等张力体关节和平褶式关节进行了比较,最后讨论了关节的优化方向。结果表明,在测试的0°~80°范围内,关节力矩较小,最大容积变化为1.6%。关节弯曲时,等张力体曲面上周向应力仍可忽略不计。首次加载与之后的加载有一定的差异,而不同的运动范围对关节活动性能无影响。与其他两种关节形式比较,带褶皱等张力体关节在几何尺寸、运动形态和活动性能上都具有一定的优势。此外,该关节可在结构和材料方面进一步优化。
Future planetary surface exploration mission, the space suit’s performance needs to be further improved. To this end, we should improve the structure of the space suit’s soft joints. According to the theory that there is no circumferential stress in the interior of the isostatic body under pressure, a tabular structure is added in the circumferential direction of the curved surface to design an isometric tensioned body joint so as to be able to bend or extend circumferentially. In order to verify the joint performance, the moment characteristics of multiple loading and unloading and different range of motion were studied by flexible one-degree-of-freedom joint measuring equipment. The geometric shape, isokinetic and principal stress state of the joint were analyzed. The folds of the isometric body are compared with those of the flat folds, and finally the optimal direction of the joint is discussed. The results show that in the range of 0 ° ~ 80 °, the joint torque is small and the maximum volume change is 1.6%. When the joint is flexed, the circumferential stress on the isometric body surface is still negligible. There is a certain difference between the first load and the later load, and the different motion range has no effect on the joint activity performance. Compared with the other two joint forms, the folds and other tensioned joints have some advantages in terms of geometric size, shape and activity. In addition, the joint can be further optimized in terms of structure and material.