谭益松, 刘伊威, 刘宏, 介党阳, 蔡鹤皋. 空间大型末端执行器柔性钢丝绳的建模与捕获动力学[J]. 机器人, 2011, 33(2): 156-160.
引用本文: 谭益松, 刘伊威, 刘宏, 介党阳, 蔡鹤皋. 空间大型末端执行器柔性钢丝绳的建模与捕获动力学[J]. 机器人, 2011, 33(2): 156-160.
TAN Yisong, LIU Yiwei, LIU Hong, JIE Dangyang, CAI Hegao. Modeling and Capture Dynamics of Flexible Cables Used in Large-scale Space End-effector[J]. ROBOT, 2011, 33(2): 156-160.
Citation: TAN Yisong, LIU Yiwei, LIU Hong, JIE Dangyang, CAI Hegao. Modeling and Capture Dynamics of Flexible Cables Used in Large-scale Space End-effector[J]. ROBOT, 2011, 33(2): 156-160.

空间大型末端执行器柔性钢丝绳的建模与捕获动力学

Modeling and Capture Dynamics of Flexible Cables Used in Large-scale Space End-effector

  • 摘要: 针对大容差软捕获这一空间捕获操作的重要准则,研制了基于钢丝绳的末端执行器大容差柔性捕获机构.针对钢丝绳具有较大柔性,在空间应用环境下难于快速连续建模控制的问题,提出了柔性钢丝绳的离散控制模型,解决了钢丝绳的建模问题.通过钢丝绳的离散模型,分析了末端执行器钢丝绳柔性机构捕获空间自由飞行载荷舱的动力学问题.实验证明钢丝绳模型建立正确,钢丝绳捕获动力学推导合理.

     

    Abstract: Flexible capture mechanism of large-scale space end-effector based on steel cables is developed with respect to an important space capture principle,namely large-tolerance and flexible capture.Owing to cable's flexibility and the difficulty in fast sequential modeling and control in space environment,a discrete control model of the flexible steel cables is established to solve the modeling problem of steel cables.Via the discrete model,dynamics for the end-effector's flexible steel cable capture mechanism capturing a space free-flying carry cargo is analyzed.Experiments show that the steel cable model is correct and the derivation of the capture dynamics is reasonable.

     

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