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Multidomain uniform modeling and emulation system of space robot

A technology of space robot and simulation system, applied in the field of unified modeling and simulation system of space robot in multiple fields, can solve the problems of multi-domain modeling and simulation of space robot system that have not been seen before, and achieve the effect of good reusability

Inactive Publication Date: 2010-06-16
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, there is no research on multi-domain modeling and simulation of space robot system in the literature

Method used

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  • Multidomain uniform modeling and emulation system of space robot
  • Multidomain uniform modeling and emulation system of space robot
  • Multidomain uniform modeling and emulation system of space robot

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Embodiment Construction

[0042] 1. The multi-domain functional module division of the space robot system and the composition of the modeling and simulation system

[0043] A typical space robot on-orbit service system consists of a flight base and a space manipulator, such as figure 1 shown. Among them, the target measurement system, docking mechanism, attitude and orbit control system, etc. are installed on the flight base, and the space manipulator can be composed of a 6DOF robotic arm, a grasping claw and hand-eye vision. Space objects may be faulty satellites (such as solar panels not deployed), abandoned satellites or space debris, etc. To realize the modeling of a complete space robot on-orbit service system, the following functional modules need to be included:

[0044] (1) Space robot system dynamics module, including multi-body dynamics model, track dynamics model, track environment model, etc. of the space robot system;

[0045] (2) Joint model: including joint i (i=1,...,6) controller, m...

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Abstract

The invention relates to a multidomain uniform modeling and emulation system of a space robot, comprising a space robot path planer (1), a joint shaft module (2), a space robot hand and eye cameral measuring module (3), a space robot mechanism module (4), a world coordinate and centerbody gravitational field (5), a track dynamics and space environment module (6), a space robot base sensor module (7), a propulsion module (8), a counteractive flywheel assembly (10) and a space robot base posture track control module (9). Model libraries are developed by adopting multidomain physical system modeling language Modelica, thereby seamless integration and data switching among models in different domains, such as machinery, electric, software, control and the like, are thoroughly realized, and the target of multidisciplinary optimization design is realized. Based on the modeling and emulation system, the invention can conveniently realize the modeling and emulation of single-arm and multi-arm space robots under the modes of free flying and free floating.

Description

technical field [0001] The invention relates to a multi-field unified modeling and simulation system for a space robot, which can be used for multi-field integrated modeling of space robot systems such as machinery, electricity, control, and software, and performs closed-loop control simulation. Background technique [0002] The space robot system involves many disciplines, including mechanics, electricity, automatic control, computer, spacecraft orbit and attitude dynamics, and so on. The dynamics of the entire system are the result of the interaction of multiple domains. In the past engineering practice, the emphases of modeling and simulation at different stages——component level, subsystem level, system level, etc. are different. In the component development stage, designers often emphasize the details of the component itself, while the interaction between the component and other components is often ignored or roughly approximated. On the contrary, in the development ph...

Claims

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Application Information

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IPC IPC(8): B25J9/08B64G4/00
Inventor 徐文福齐海萍梁斌李成王学谦
Owner HARBIN INST OF TECH
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