利用Kane方法进行航天员舱外活动仿真

阐述了计算机动态仿真航天员舱外活动(Extra Vehicular Activity，EVA)的必要性，分析了国外航天员运动仿真的现状，给出了应用计算多刚体系统动力学对航天员舱外活动进行仿真的详细步骤。建立了具体的仿真方法，考虑了反向运动学、反向动力学等，反向动力学采用Kane方法。选取典型的EVA，在对其进行适当简化的基础上，得出了描述该EVA系统运动的7节段6自由度动力学方程，对该EVA进行了仿真计算，并对结果进行了分析。

Application of Kane''''s Method in Simulating Extra Vehicular Activity

The necessity of dynamically simulating the Extra Vehicular Activity is described. The existing condition of researching the simulation of EVA is introduced. Steps to simulate EVA utilizing multi-body dynamics are proposed. The simulation method is established taking into account of inverse kinematics, inverse dynamics. Basic principles of Kane's method are presented curtly. Dynamics equations to simulate the astronaut are established. A typical EVA, an actual large-mass-handling EVA performed on STS-63, is chosen as the instance to simulate. Based on some simplifications, the model of astronaut body including 7 segments, 6 degree of freedom, and 3 degree of redundancy is established. The dynamics equations of astronaut model are developed in terms of the proposed method. The equations are solved and the results are analyzed.