针对未来星表探测需求,提出了一种硬式冗余自由度航天服旋转关节系统的概念设计方案.首先,采用虚拟样机技术,建立了航天服关节系统的概念设计模型,给出关节自由度的布置方案,论述了航天服关节系统的设计依据和方法;然后,以髋关节为主要对象,阐述了"半球冠平面斜截"的冗余自由度硬式髋关节设计方法,给出了髋关节设计参数和位态的计算表达式;最后,进行了仿真分析.结果表明,提出的航天服关节系统概念设计方案是合理、可行的.%Targeting the future planetary exploration, a conceptual design model was proposed for a hard space suit with redundant degree of freedom ( DOF) . Meanwhile, the conceptual design of a hard hip joint was carried out. The motion analysis and geometry modeling were conducted. The vir-tual prototype technology was used in designing the conceptual model of space suit. First, a design scheme of space suit was determined and its DOF was distributed into respective joints including the shoulder joint, the elbow joint, the waist joint, the knees joint, the hip joint and the ankle joint. The design principle and process were explained such as the leg motion range, the shoulder loca-tion, etc. Second, the hip joint was focused on, and the redundant DOF was described in detail. According to the hip design scheme, a mathematic model was established to represent the rotation motion of the components in the hip joint. Moreover, the main parameters were calculated and the geometry shapes were designed through related mathematic model. Finally, simulation analysis was conducted to verify the conceptual design model. The simulation results showed that the proposed design scheme and modeling method were reasonable and feasible.
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