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

Active Publication Date: 2018-05-22
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, there is no method for rapid physical simulation of the full-state dynamics of the space manipulator in our country.

Method used

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  • A full-state dynamic semi-physical simulation system for a space manipulator
  • A full-state dynamic semi-physical simulation system for a space manipulator
  • A full-state dynamic semi-physical simulation system for a space manipulator

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Embodiment Construction

[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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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 physical simulation method, in particular to a full-state dynamic semi-physical simulation system of a space manipulator. Background technique [0002] The configuration of the space manipulator is very important for space launch missions. A reasonable configuration design can not only reduce the space occupation of the manipulator during the launch process, reduce the system quality, and reduce the launch cost, but more importantly, it can Reduce the attitude disturbance of the star, reduce the requirements of the space manipulator on 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 dynamic simulation of the complete working space of the manipulator. ADAMS is used to establish the dynamic model of the space m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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