李艳辉, 霍琦, 李昂, 贺帅, 张恩阳, 赛华阳, 朱明超, 徐振邦. 模块化超冗余度空间机械臂的设计与实验[J]. 机器人, 2022, 44(1): 55-65. DOI: 10.13973/j.cnki.robot.210208
引用本文: 李艳辉, 霍琦, 李昂, 贺帅, 张恩阳, 赛华阳, 朱明超, 徐振邦. 模块化超冗余度空间机械臂的设计与实验[J]. 机器人, 2022, 44(1): 55-65. DOI: 10.13973/j.cnki.robot.210208
LI Yanhui, HUO Qi, LI Ang, HE Shuai, ZHANG Enyang, SAI Huayang, ZHU Mingchao, XU Zhengbang. Design and Experiment of Modular Hyper-redundant Space Manipulator[J]. ROBOT, 2022, 44(1): 55-65. DOI: 10.13973/j.cnki.robot.210208
Citation: LI Yanhui, HUO Qi, LI Ang, HE Shuai, ZHANG Enyang, SAI Huayang, ZHU Mingchao, XU Zhengbang. Design and Experiment of Modular Hyper-redundant Space Manipulator[J]. ROBOT, 2022, 44(1): 55-65. DOI: 10.13973/j.cnki.robot.210208

模块化超冗余度空间机械臂的设计与实验

Design and Experiment of Modular Hyper-redundant Space Manipulator

  • 摘要: 针对空间在轨服务任务需求设计了一种9自由度的模块化超冗余空间机械臂。该机械臂由9个相同的机械臂关节构成,其关节数量可根据任务要求进行调整。模块化关节采用一体化设计,关节内部合理地布置了机械传动部分与电气部分。基于改进的Bi-RRT算法和建立的机械臂的正逆运动学模型,机械臂进行了穿越复杂障碍环境的仿真和实验,实验结果表明该机械臂可以灵活地穿越障碍环境。基于阻抗控制算法,分别采用该机械臂进行了写字实验和恒力保持实验,实验结果表明机械臂具有良好的力控制能力。实验验证了该机械臂具备在复杂空间环境中执行在轨服务的能力。

     

    Abstract: A modular hyper-redundant space manipulator with 9-DOF (degree-of-freedom) is designed for the requirements of space on-orbit service tasks. The designed manipulator is composed of 9 identical manipulator joints, and the number of joints can be adjusted according to the task requirements. The modular joint is of an integrated design, and the mechanical transmission part and electrical part are reasonably arranged in the joint. Based on the improved Bi-RRT (bidirectional rapidly-exploring random tree) algorithm and the established forward and inverse kinematics models of the manipulator, the simulation and experiment of the manipulator crossing the complex obstacle environment are carried out. The experimental results show that the designed manipulator can cross the obstacle environment flexibly. Based on the impedance control algorithm, the writing experiment and the constant force holding experiment are carried out with the manipulator, respectively. The experimental results show that the manipulator has a good force control ability. The above experiments verify that the designed manipulator has the ability to perform on-orbit service in the complex space environment.

     

/

返回文章
返回