The paper considers a new layout of a two-stage spacecraft designed to remove a group of large space debris objects such as the upper stages of ‘Zenit’ launch vehicles from low-earth orbit. The aim of the work is to preliminarily quantify the parameters of the shock-absorbing system of the robotic arm designed for capturing a redundant upper stage by the main rocket engine nozzle. The estimation will be conducted by means of numerical simulation of the motion dynamics of the "spacecraft - space debris object" system. The paper presents the results of calculating the transient mode of oscillations of objects connected by the manipulator using simplified and detailed dynamic models of parameters, the analysis of the placement options for the manipulator shock-absorbing system, the analysis of the load reduction possibility through the use of attitude control thrusters, the analysis of two dynamic design variants of the mechanism for grabbing the critical section of the nozzle, and analysis of the capture dynamics at different initial angular velocities of rotation of a space debris object. The most rational shock-absorbing solution for a robotic arm with two translational and two rotary dampers is found. It is shown that the dynamic design of the nozzle capture mechanism has the greatest effect on the robotic arm loading. The kinematic design of the gripper selected as a result of the simulation almost completely eliminates shock loads in the process of damping the system vibrations. It is shown that the robotic arm shock-absorbing design has a significant margin for the initial angular velocity of the space debris object.

该论文考虑了一种两级航天器的新布局，旨在从低地球轨道上清除一组大型空间碎片物体，例如“天顶”运载火箭的上级。这项工作的目的是初步量化设计用于通过主火箭发动机喷嘴捕获冗余上级的机械臂减震系统的参数。估计将通过“航天器-空间碎片物体”系统运动动力学的数值模拟进行。本文介绍了使用简化和详细的参数动态模型计算由机械手连接的物体的瞬态振荡模式的结果，分析了机械手减震系统的放置选项，通过使用姿态控制推进器来减少负载的可能性分析，用于抓取喷管临界截面的机构的两种动态设计变体的分析，以及在空间的不同初始旋转角速度下的捕获动力学分析碎片对象。找到了具有两个平移和两个旋转阻尼器的机械臂的最合理的减震解决方案。结果表明，喷嘴捕获机构的动态设计对机械臂加载的影响最大。作为模拟结果选择的夹具的运动学设计几乎完全消除了系统振动阻尼过程中的冲击载荷。