A full-state dynamic semi-physical simulation system for a space manipulator
A space manipulator, semi-physical simulation technology, applied in the fields of electrical digital data processing, special data processing applications, instruments, etc., can solve the problems of fast physical simulation of full-state dynamics without space manipulator, and improve communication reliability and performance. The effect of stability, reducing dependence, and reducing the difficulty of selection
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[0029] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
[0030] The present invention carries out dynamic modeling for the space manipulator, adopts a rigid-flexible joint simulation modeling scheme, and performs finite element flexible replacement of the key parts of the manipulator transmission and the arm rod of the manipulator. Mechanical system model of the manipulator for frequency characteristics, load characteristics, etc.
[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 using ADAMS software. The establishment can be realized through the following steps: ① Establish a three-dimensional model of a multi-joint robot through 3D modeling software, and perform rigid body definition, local coordinate system definition, relative constraint relationship definition be...
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