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Collision detection method between space manipulator and cabin

A space manipulator, collision detection technology, used in measuring devices, instruments, etc.

Active Publication Date: 2016-04-13
SUZHOU YOUDAN INTERNET TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, for the problem of collision avoidance between the manipulator and the cabin, not only the collision at the end needs to be considered, but also the collision at any position on each link of the manipulator. Therefore, only the spatial relationship between the end and the cabin in the Cartesian coordinate space is considered is not enough

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  • Collision detection method between space manipulator and cabin
  • Collision detection method between space manipulator and cabin
  • Collision detection method between space manipulator and cabin

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Embodiment Construction

[0009] The schematic diagram of the mechanical arm is shown in the figure 1 shown. Suppose the shape of the spacecraft is a cylinder with a diameter of Φ, the mechanical arm is installed on the surface of the cylinder, the axis of the first joint rotation axis intersects the symmetry axis of the cylinder, and the base coordinate system O 0 -X 0 Y 0 Z 0 the X 0 axis parallel to the axis of symmetry of the cylinder. The angular displacement of the i-th joint is θ i , the coordinate origin of the i-th coordinate system is O i , i=1, 2, ..., 6, define the position parallel to the corresponding coordinate axis of the previous coordinate system as the position of 0 angular displacement, defined by X i to Y i , by Y i to Z i , or by Z i to x i The rotation of is the positive direction of the angular displacement, and the connection line between the adjacent coordinate origins and are of length d 1 、d 2 、a 2 , a 3 、d 2 and a 5 ,and

[0010] c i =cosθ i the s...

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Abstract

The invention discloses a detecting method for a collision of a space mechanical arm and a cabin body and aims at a six-joint mechanical arm. The coordinates of all joints and the coordinates of tail ends are educed. All points on the connecting rods possibly collided with the cabin body are expressed to be functions of coordinates of joints at two ends. Moreover, a detecting method for collision of the point and the cabin body is given. The detecting method has the advantages of being capable of not only detecting the collision of the mechanical arm joints and the cabin body, but also checking the collision of any position in the mechanical arm connecting rods and the cabin body.

Description

technical field [0001] The invention relates to a collision detection method between a space robot arm and a cabin body. Background technique [0002] As an important tool for spacecraft, space manipulators can be used for satellite recovery and maintenance, assembly of large equipment, on-orbit construction of space stations, and as an auxiliary platform for astronauts to go out of the cabin, improving safety and extravehicular working capabilities, etc. . For spacecraft that have failed or malfunctioned, using space robotic arms to capture, repair, recycle or reuse them can not only save a lot of manpower and financial resources, but also remove the increasing amount of space junk in space. [0003] Due to the different positions of the grasped space objects, the movement paths of the end of the manipulator are also different. Even in the simplest space environment, collisions with the cabin may occur during the movement of the manipulator. This kind of collision may not...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B21/00
Inventor 安凯王晓英安培亮安宏亮
Owner SUZHOU YOUDAN INTERNET TECH CO LTD