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

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 ...

Images