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Method for determining proportion of influence of space manipulator parameters on movement reliability

A space manipulator, technology to determine the method, applied in the direction of electrical digital data processing, special data processing applications, instruments, etc.

Active Publication Date: 2016-02-24
BEIJING UNIV OF POSTS & TELECOMM
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a method for determining the influence proportion of space manipulator parameters on motion reliability, and to solve the quantitative characterization of the control priority of each influencing factor in optimal control based on motion reliability The problem

Method used

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  • Method for determining proportion of influence of space manipulator parameters on movement reliability
  • Method for determining proportion of influence of space manipulator parameters on movement reliability
  • Method for determining proportion of influence of space manipulator parameters on movement reliability

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Experimental program
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Embodiment Construction

[0073] 1. The set of influencing factors and task parameter set of space manipulator motion reliability

[0074] Table 1 DH parameters of space manipulator

[0075]

[0076] Such as figure 1 Shown is a flowchart of the method of the present invention. The present invention takes the space seven-degree-of-freedom mechanical arm as the research object, and the configuration of the mechanical arm is as figure 2 As shown, the DH parameters are shown in Table 1. Since there are many factors affecting the motion reliability of the space manipulator, according to the different mechanism and mode of action of each factor on the motion reliability, it can be divided into assembly factors, transmission factors, friction factors, lubrication factors and inherent parameters and control of the space manipulator. Variables and other categories. Here select the space manipulator kinematics parameter deviation, geometric parameter deviation Δα, Δa, Δd ∈ R n×1 , Joint angle Δθ∈R n×1 , Control...

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Abstract

The invention discloses a method for determining proportion of influence of space manipulator parameters on movement reliability, comprising the steps of: firstly, obtaining influence factors of a space manipulator on movement reliability; secondly, establishing a limit state function which aims at representing minimal operating space pose deviations of the space manipulator; then establishing response surface function representing relations between the influence factors and the pose deviations; and at last working out the movement reliability sensitivity of each influence factor. According to the method provided by the invention, the coupling relation between the on-orbit task constraint and each influence factor of the space manipulator is comprehensively considered, the problem about multidimensional integral continuous partial derivatives during the analysis process of the movement reliability sensitivity is avoided, coupling and nonlinearity among the influence factors are reduced, the problem that the movement reliability analysis needs a lot of samples is avoided, the computing efficiency is improved, and the requirement on on-orbit real-time application is met.

Description

Technical field [0001] The invention relates to the reliability analysis of a space manipulator, in particular to a method for determining the proportion of space manipulator parameters that affect movement reliability. Background technique [0002] With the development of my country's aerospace technology and the increasing demand for in-orbit applications, the products of aerospace institutions have shown a diversified development trend. Space manipulators, as a type of aerospace organization with high operating load, accurate positioning operations, and multiple end effectors that can achieve diverse operations, have become a key product of space activities. Because the working environment of the space manipulator has the characteristics of strong radiation, high temperature difference and ultra-vacuum, its on-orbit operation performance will be greatly affected. In order to grasp the on-orbit motion performance of the manipulator in real time, it is necessary to analyze the ...

Claims

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Application Information

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IPC IPC(8): G06F19/00
Inventor 陈钢李彤贾庆轩孙汉旭郭雯刘嘉骏
Owner BEIJING UNIV OF POSTS & TELECOMM
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