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A Method for Determining the Proportion of Influence of Space Manipulator Parameters on Motion Reliability

A technology of space manipulator and determination method, which is applied in the fields of electrical digital data processing, special data processing applications, instruments, etc.

Active Publication Date: 2017-11-21
BEIJING UNIV OF POSTS & TELECOMM
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  • 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

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  • A Method for Determining the Proportion of Influence of Space Manipulator Parameters on Motion Reliability
  • A Method for Determining the Proportion of Influence of Space Manipulator Parameters on Motion Reliability
  • A Method for Determining the Proportion of Influence of Space Manipulator Parameters on Motion Reliability

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Embodiment Construction

[0073] 1. The set of factors affecting the reliability of space manipulator movement and the set of task parameters

[0074] Table 1 Space manipulator DH parameters

[0075]

[0076] Such as figure 1 Shown is the flow chart of the method of the present invention. In the present invention, the robot arm with seven degrees of freedom in space is taken as the research object, and the configuration of the robot arm is as follows: 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 influence 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 the inherent parameters and control of space manipulators. variables etc. Here, the kinematic parameter deviation of the space manipulator is selected as the geometric parameter deviation Δα, Δa, Δd∈R n...

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Abstract

A method for determining the proportion of influence of space manipulator parameters on motion reliability. Firstly, the factors affecting the space manipulator motion reliability are obtained; secondly, a limit state function is established to characterize the space manipulator to operate with the minimum space pose deviation as the goal; and then the characterization is established The response surface function of the relationship between the influencing factors and the pose deviation; the final calculation obtains the motion reliability sensitivity of each influencing factor. The invention comprehensively considers the on-orbit task constraints of the space manipulator and the coupling relationship between various influencing factors, avoids the problem of multi-dimensional integral continuous partial derivation in the process of motion reliability sensitivity analysis, and reduces the coupling and nonlinearity among influencing factors. The problem of large sample demand in motion reliability analysis is avoided, the computing efficiency is improved, and the on-orbit real-time application requirements are met.

Description

technical field [0001] The invention relates to reliability analysis of a space manipulator, in particular to a method for determining the proportion of influence of space manipulator parameters on motion reliability. Background technique [0002] With the development of my country's aerospace technology, the demand for on-orbit applications is increasing, and the products of aerospace agencies are showing a diversified development trend. As a kind of aerospace mechanism with high operating load, precise positioning operation, and various operations using a variety of end effectors, the space manipulator has become a key product in space activities. Since 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 in-orbit motion performance of the manipulator in real time, it is necessary to analyze the motion re...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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