空间机械臂收拢状态零重力模拟

高海波, 郝峰, 邓宗全, 刘振, 丁亮, 岳洪浩

高海波, 郝峰, 邓宗全, 刘振, 丁亮, 岳洪浩. 空间机械臂收拢状态零重力模拟[J]. 机器人, 2011, 33(1): 9-15.
引用本文: 高海波, 郝峰, 邓宗全, 刘振, 丁亮, 岳洪浩. 空间机械臂收拢状态零重力模拟[J]. 机器人, 2011, 33(1): 9-15.
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GAO Haibo, HAO Feng, DENG Zongquan, LIU Zhen, DING Liang, YUE Honghao. Zero-g Simulation of Space Manipulator in Furled Status[J]. ROBOT, 2011, 33(1): 9-15.
Citation: GAO Haibo, HAO Feng, DENG Zongquan, LIU Zhen, DING Liang, YUE Honghao. Zero-g Simulation of Space Manipulator in Furled Status[J]. ROBOT, 2011, 33(1): 9-15.
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空间机械臂收拢状态零重力模拟

  • 1.

    哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江,哈尔滨,150080

  • 2.

    哈尔滨工业大学宇航空间机构及控制国防科工委重点学科实验室,黑龙江,哈尔滨,150080

详细信息
    作者简介:

    高海波（1970- ），男，副教授，博士生导师．研究领域：宇航空间机构及控制．
    郝峰（1986- ），女，硕士生．研究方向：空间机械臂零重力模拟．
    邓宗全（1956- ），男，教授，博士生导师．研究领域：宇航空间机构及控制等

    通信作者:

    高海波, gaohaibo@hit.edu.cn

    郝峰, haofeng626@yahoo.cn

  • 中图分类号: TP24

Zero-g Simulation of Space Manipulator in Furled Status

  • 1.

    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

  • 2.

    Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense, Harbin Institute of Technology, Harbin 150001, China

摘要

    摘要
  • 摘要: 利用吊丝配重法进行零重力模拟装置的结构设计，结合重力补偿原理推导出空间机械臂分离体静力学重力补偿计算公式，同时采用最小方差原理将多个力矩的优化问题转化为一个总体目标，建立了吊点力优化程序，通过该优化程序得到各吊点力的数值．当吊丝长度为1000mm时，利用ADAMS建立空间机械臂零重力模拟装置模型．当空间机械臂为静止状态时，吊点优化计算结果与仿真值相比，结果相对误差在10%左右；当空间机械臂各关节以0.5°/s和1°/s匀速运动时，零重力模拟装置对其产生的附加弯曲力矩和附加反转矩均未超过技术指标要求．因此，该方案可用于实际空间机械臂的零重力模拟．
    Abstract: The zero-g simulation device is designed by using suspender spring and counter weight,and the static gravity compensation formulas of space manipulator's detached body are deduced with gravity compensation theory.Based on the least minimum square theory,an optimization program of suspension force is developed,through which the optimization of multiple torques is transformed into the optimization of a whole target,and the numerical value of each suspension force can be obtained.The model of the zero-g simulation device of space manipulator is built in ADAMS when the length of suspender spring is 1 000 mm.Under the condition that the space manipulator is in stationary state,the relative errors between the optimization results and the simulation results are around 10%.And the bending torque and counter torque generated by the zero-g simulation device can meet the technical requirements when each joint of space manipulator moves at the constant angular speed of 0.5°/s and 1°/s.Therefore,this approach is suitable for zero-g simulation of space manipulator.
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    • 参考文献(10)
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出版历程
  • 收稿日期:  2010-01-27

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