Space manipulator full-state dynamic semi-physical simulation system

A space manipulator, semi-physical simulation technology, applied in the direction of electrical digital data processing, special data processing applications, instruments, etc., can solve the problem of fast physical simulation of full-state dynamics without a space manipulator, to improve communication reliability and The effects of stability, reducing dependence, and reducing the difficulty of model selection

Active Publication Date: 2016-03-16
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS +1
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Problems solved by technology

At present, there is no method for rapid physical simulation of

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  • Space manipulator full-state dynamic semi-physical simulation system
  • Space manipulator full-state dynamic semi-physical simulation system
  • Space manipulator full-state dynamic semi-physical simulation system

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Embodiment Construction

[0029] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments:

[0030] The present invention performs dynamic modeling for a space manipulator, adopts a rigid-flexible joint simulation modeling scheme, performs finite element flexible substitution of the key components of the manipulator transmission, the manipulator arm rods, and establishes the consideration of joint torsional stiffness and quality characteristics. The mechanical system model of the robot arm with frequency characteristics and load characteristics.

[0031] According to the kinematics and dynamics coupling model of the six-degree-of-freedom space manipulator and the base, the dynamic model of the space manipulator is established by ADAMS software. The establishment can be achieved through the following steps: ① Establish a three-dimensional model of the multi-joint robot through 3D modeling software, and define the rigid body, the local coordinat...

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Abstract

The present invention provides a space manipulator full-state dynamic semi-physical simulation system, and relates to the field of dynamic physical simulation. The system comprises: a space manipulator controller module, a bus data conversion module, a space manipulator combined calculation module and a calculation result display and post-processing module. A space manipulator dynamic model is established by using ADAM software, a space manipulator speed parameter is output by the space manipulator dynamic model to MATLAB/SIMULINK calculation software to be calculated, and a calculation result map is generated by the calculation result display and post-processing module. The space manipulator full-state dynamic semi-physical simulation system is provided, the basis is provided for the mechanical structure strength design of a real space manipulator and the type selection design of a space manipulator transmission system, simulation verification is performed on a trajectory planning algorithm so as to assist in the motion planning based on space manipulator energy optimization.

Description

Technical field [0001] The invention relates to a dynamic physics simulation method, in particular to a full-state dynamics semi-physical simulation system of a space manipulator. Background technique [0002] The configuration of the space manipulator is very important for the space launch mission. A reasonable configuration design can not only reduce the space occupation of the manipulator during the launch process, reduce the system quality, reduce the launch cost, and more importantly, it can Reduce the disturbance of the star's attitude, reduce the requirements of the space manipulator for the support and locking mechanism, reduce the complexity of the entire system, and improve the reliability of the entire system. The space manipulator works in microgravity, and the ground simulation space microgravity environment cannot realize the full-state dynamics simulation of the complete work space of the manipulator. The dynamic model of the space manipulator under the microgravit...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 李科杨涛刘嘉宇张栩曼刘书选
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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