Equivalent mass based spatial manipulator continuous collision dynamics modeling method

Abstract

The invention discloses an equivalent mass based spatial manipulator continuous collision dynamics modeling method and belongs to the manipulator modeling technical field. The equivalent mass based spatial manipulator continuous collision dynamics modeling method comprises calculating the equivalent mass of the tail end of a spatial manipulator on the basis of the establishment of a spatial manipulator kinematics equation, dynamic equation and energy equation; deducing the collision force, the duration of the collision and the amount of the compression through a continuous collision Hertz damping model between monomers, wherein the collision force, the duration of the collision and the amount of the compression are produced by monomer collision; combining with the equivalent mass of the tail end of the spatial manipulator and the monomer continuous collision Hertz damping model, establishing a spatial manipulator continuous collision dynamics model and calculating the collision force, the duration of the collision and the maximum amount of the compression in the spatial manipulator collision process. According to the equivalent mass based spatial manipulator continuous collision dynamics modeling method, the problem of spatial manipulator continuous collision dynamics modeling is solved, the modeling process by the equivalent mass based spatial manipulator continuous collision dynamics modeling method is simple and easy to understand, and the collision force, the duration of the collision and the maximum amount of the compression in the collision process can be expressed explicitly.

Description

technical field [0001] The invention relates to a continuous collision dynamics modeling method of a space manipulator based on an equivalent mass, and belongs to the technical field of manipulator modeling. Background technique [0002] When the space manipulator performs contact tasks such as on-orbit assembly or capture, it generally goes through three stages: pre-collision, contact collision and post-collision control. In the pre-collision stage, not only the adjustment of the capture pose at the end of the manipulator must be completed, but also the configuration and trajectory optimization of the manipulator is usually required to achieve the goal of minimizing the collision pulse of the manipulator or minimizing the disturbance of the collision to the base, and these goals The setting needs to be based on the collision dynamics; for the stability control after the collision, it is necessary to know the impact of the collision on the manipulator in advance, such as the...

AI Technical Summary

Problems solved by technology

[0003] At present, the modeling of space manipulator collision dynamics is mostly a discrete model, which is established under the assumption that the collision time is extremely short and the collision is regarded as a collision pulse. The characteristic of this type of model is that the modeling method is relatively simple, but Only the collision pulse and the system change caused by the collision can be obtained, but the display expression of the collision force cannot be obtained

When the manipulator collides with a relatively flexible environment, sometimes it is necessary to obtain the duration of the collision process, the change of the collision force, and the depth of intrusion, etc. At this time, the discrete collision dynamics model can no longer meet the requirements. Therefore, some scholars focus on continuous collision The dynamic model has been studied, but most of them stay on the collision between single bodies, and there are few related literatures on the continuous collision between multi-body systems

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