叶平, 何雷, 宋爽, 孙汉旭. 空间机械臂地面微重力混合模拟方法研究[J]. 机器人, 2013, 35(3): 299-305,312.DOI: 10.3724/SP.J.1218.2013.00299.
YE Ping, HE Lei, SONG Shuang, SUN Hanxu. A Hybrid Method for Microgravity Simulation of Space Robotic Manipulator. ROBOT, 2013, 35(3): 299-305,312. DOI: 10.3724/SP.J.1218.2013.00299.
According to structural characteristics of a space robotic manipulator with 7 DOFs (degrees of freedom) which can be used for space station assembly, a hybrid method for microgravity simulation for the 7-DOF manipulator on the ground is proposed. The presented method is a combination of air-bearing support and static balancing. Gravity of the middle segment of the 7-DOF manipulator is compensated by air-bearing support. And two static balancing mechanisms are designed to compensate the gravity of both ends of the 7-DOF manipulator, i.e. the shoulder and wrist, respectively. The microgravity ground-based facility using the hybrid method allows the 7-DOF manipulator to perform movement in three dimensions. Therefore, in the simulated microgravity environment, the positioning accuracy of the end-effector of the 7-DOF manipulator can be measured, and experiments of target capture also can be carried out on the ground. The microgravity ground-based facility of the 7-DOF manipulator is modeled with ADAMS, and its performance is studied. Simulation results demonstrate the feasibility of the proposed microgravity simulation method for the 7-DOF space robotic manipulator.
[1] Hirzinger G, Brunner B, Dietrich J, et al. ROTEX -- The first remotely controlled robot in space[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 1994: 2604-2611.[2] 徐文福,梁斌,李成,等.空间机器人微重力模拟实验系统研究综述[J].机器人,2009,31(1):88-96. Xu W F, Liang B, Li C, et al. A review on simulated micro-gravity experiment systems of space robot[J]. Robot, 2009, 31(1): 88-96.[3] Russakow J, Rock S M, Khatib O. An operational space formulation for a free-flying, multi-arm space robot[C]//4th International Symposium on Experimental Robotics. Berlin, Germany: Springer-Verlag, 1997: 448-457.[4] 高海波,郝峰,邓宗全,等.空间机械臂收拢状态零重力模拟[J].机器人,2011,33(1):9-15. Gao H B, Hao F, Deng Z Q, et al. Zero-g simulation of space manipulator in furled status[J]. Robot, 2011, 33(1): 9-15.[5] Gefke G G, Carignan C R, Roberts B J, et al. Ranger telerobotic shuttle experiment: Status report[C]//Proceedings of SPIE: vol.4570. Bellingham, WA, USA: SPIE, 2001: 123-132.[6] Nechyba M C, Xu Y S. Human-robot cooperation in space: SM2 for new space station structure[J]. IEEE Robotics & Automation Magazine, 1995, 2(4): 4-11. [7] 李成,梁斌.基于事件的EMR遥操作自适应规划与控制方法[J].航天控制,2001,19(3):17-22. Li C, Liang B. Event-based adaptive planning and control method for EMR teleoperation[J]. Aerospace Control, 2001, 19(3): 17-22.[8] van DorsserWD, Barents R,Wisse B M, et al. Gravity-balanced arm support with energy-free adjustment[J]. Journal of Medical Devices, 2007, 1(2): 151-158. [9] Lu Q, Ortega C, Ma O. Passive gravity compensation mechanisms: Technologies and applications[J]. Recent Patents on Engineering, 2011, 5(1): 32-44. [10] Ulrich N, Kumar V. Passive mechanical gravity compensation for robot manipulators[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 1991: 1536-1541.[11] Banala S K, Agrawal S K, Fattah A, et al. Gravity-balancing leg orthosis and its performance evaluation[J]. IEEE Transactions on Robotics, 2006, 22(6): 1228-1239. [12] Rizk R, Krut S, Dombre E. Design of a 3D gravity balanced orthosis for upper limb[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2008: 2447-2452.[13] Agrawal S K, Fattah A. Gravity-balancing of spatial robotic manipulators[ J]. Mechanism and Machine Theory, 2004, 39(12): 1331-1344.[14] 杨明远,孙汉旭,贾庆轩,等.七自由度空间机械臂避障路径规划方法[J].航天器工程,2011,20(4):65-71. Yang M Y, Sun H X, Jia Q X, et al. Research on path planning for 7-DOF space manipulator to avoid obstacle[J]. Spacecraft Engineering, 2011, 20(4): 65-71.[15] Herder J L. Energy-free systems, theory, conception and design of statically balanced spring mechanisms[D]. Delft, Netherlands: Delft University of Technology, 2001.[16] 卢志辉,孙志扬,李祥云,等.高精度质心测量方法研究[J].兵工学报,2009,30(12):1748-1752. Lu Z H, Sun Z Y, Li X Y, et al. Research on high precision measurement of centroid[J]. Acta Armamentarii, 2009, 30(12): 1748-1752.
