Single-joint fault mechanical arm model rebuilding method based on projection geometric method

A technology of faulty machinery and projected geometry, which is applied to manipulators, program-controlled manipulators, and manufacturing tools, etc., and can solve problems such as inability to perform motion control and changing the motion model of the manipulator.

Active Publication Date: 2016-08-17
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0004] The purpose of the present invention is to address the shortcomings of the above-mentioned model reconstruction method, to provide a single-joint failure manipulator model reconstruction method based on the projection geometry method, which solves the problem that the movement model of the manipulator under the single-joint failure state changes and motion control cannot be performed The problem

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  • Single-joint fault mechanical arm model rebuilding method based on projection geometric method
  • Single-joint fault mechanical arm model rebuilding method based on projection geometric method
  • Single-joint fault mechanical arm model rebuilding method based on projection geometric method

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Embodiment Construction

[0050] 1. The projection method is used to perform two-dimensional projection on the kinematics model of the single-joint failure manipulator

[0051] Such as figure 1 Shown is the flow chart of the method of the present invention. The present invention takes the mechanical arm with seven degrees of freedom in space as the research object, the length of each bar is shown in Table 1, and the configuration of the mechanical arm is as follows figure 2 shown. For each joint J i (i=1,...,7), construct its motion screw, and the coordinates of the screw are shown in Table 2.

[0052] Table 1 Length of connecting rod

[0053]

[0054] Table 2 Spinor coordinates under normal state

[0055]

[0056] X-axis joint J 3 When locked at 30°, J 3 The subsequent joints are labeled as The reconstructed spinor system is as image 3 As shown, the YZ direction projection diagram is as follows Figure 4 shown. Y-axis joint J 2 When locked at 30°, J 2 The subsequent joints are labe...

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Abstract

The invention discloses a single-joint fault mechanical arm model rebuilding method based on a projection geometric method. The method mainly includes that a kinematic model of a mechanical arm is characterized on the basis of rotation coordinates, different fault joints are different in axial direction in a base coordinate system, and fault angles of the fault joints influence different parameters of joint rotation coordinates, so that the fault joints are classified according to the axial direction; aiming at different joints, a projection method is adopted to construct a projection plane in a common perpendicular face of axes of the joints, and kinematic model plane projection drawings are acquired; according to the plane projection drawing of each fault joint, a relational expression of the fault angles, length of connecting rods and joint rotation coordinates is established through geometric analysis, and then rebuilding of a single-joint fault mechanical arm model is completed. By using the method, the problem that movement cannot be controlled due to the fact that an original kinematic model is invalid after a single joint of the mechanical arm is in a fault is solved; a rotation theory is used as a base, so that compared with a D-H parameter method, the method has the advantages of high efficiency, high universality and suitability for mechanical arms different in structure.

Description

technical field [0001] The invention relates to a model reconstruction method of a single-joint fault manipulator based on a projection geometry method, and belongs to the technical field of manipulator fault tolerance. Background technique [0002] Since the space environment has the characteristics of ultra-vacuum, high temperature difference, and strong radiation, considering the harsh working environment of the space manipulator and the complexity of the internal structure of the joint, joint failure is very likely to occur during its long-term service. Once the space manipulator fails, it usually cannot be repaired in time, which will lead to the delay or even delay of the space mission, thereby affecting the implementation of the entire space program. At present, for the sudden failure of a single joint of the space manipulator during on-orbit operation, locking the faulty joint is a simple and effective solution. After the joint is locked, due to the damage of the mo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1617
Inventor 贾庆轩郭雯陈钢李彤徐涛王玉琦
Owner BEIJING UNIV OF POSTS & TELECOMM
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