Due to the difficulty of dynamical modelling of constrained flexible ropes for the closure process caused by the presence of non-smooth contacts and rigid-flexible coupling problem, a simplified model is provided. The contacts between the ropes and the rings or the separators are considered as slip joints, and the dynamical studies are conducted using the constraint method. Considering the collision of the slip joint, the contact stiffness is introduced and the contact dynamics equations of the slip joint are established. The absolute nodal coordinate formulation is used to describe the motion of rope element, and the dynamics model of which can then be established through the principle of virtual work. For rigid bodies such as separators, the quaternion description is used to establish the dynamics equations. The simulation of closure process is performed to obtain the motion law of the rope and the traction mass block, and the closure time and the degree of closure are compared under different numbers of rings. It is found that an increase in the number of rings will result in a more compact contraction of the rope, but considerable rings will prolong closure time and reduce closure efficiency.

针对飞网捕获系统中大量非光滑接触以及刚柔耦合造成的动力学建模困难问题, 提出一个简化模型。该模型将收口绳索与收口环和分离体之间的接触视为滑移关节, 并采用约束方法开展动力学研究。考虑到滑移关节的碰撞, 引入接触刚度, 建立滑移关节的接触动力学方程。利用绝对节点坐标法描述绳索单元, 采用虚功原理建立绳索单元动力学模型; 对于分离体等刚体, 采用四元数描述, 建立刚体含约束动力学方程。对收口系统的收口过程建模仿真, 得到绳索和牵引质量块的运动规律, 并对比不同收口环数目下的收口时间和收口程度。研究结果表明, 收口环的数目增加可以使边线绳收缩得更加紧凑, 但较多的收口环会延长收口时间, 降低收口效率。