Free-floating space manipulator modeling method under condition of considering spacial flexible deformation of arm lever

A technology of space manipulator and modeling method, which is applied in special data processing applications, instruments, electrical digital data processing, etc., and can solve problems such as only considering the flexible deformation of the arm in the motion plane

Active Publication Date: 2016-09-07
BEIJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, through a large number of investigations, it was found that other researchers only considered the flexible deformation of the arm in the motion plane when studying flexible manipulators.

Method used

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  • Free-floating space manipulator modeling method under condition of considering spacial flexible deformation of arm lever
  • Free-floating space manipulator modeling method under condition of considering spacial flexible deformation of arm lever
  • Free-floating space manipulator modeling method under condition of considering spacial flexible deformation of arm lever

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Embodiment 1

[0147] According to the kinematics and dynamics modeling method of a floating-based space manipulator considering the space flexible deformation of the arm provided by the present invention, as Figure 3-4 The shown double-link flexible manipulator is verified as the research object, and the relevant parameters of the manipulator are shown in Table 2.

[0148] Table 2 Parameters of the flexible manipulator system

[0149]

[0150] In the table, ρ i is the linear density of member i, m b is the mass of the base, l 1 and l 2 is the length of the member, E i is the elastic modulus of member i.

[0151] The kinematics model, dynamics model, Jacobian matrix, solution of the kinetic energy and potential energy of the flexible arm of the flexible arm are deduced by the method described in the manual. It is set that during the collision process, the joints are always in a locked state, and the robot system is in a static state at the initial moment of the collision of the rob...

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Abstract

The invention discloses a free-floating space manipulator modeling method under the condition of considering a spacial flexible deformation of an arm lever, and belongs to the technical field of modeling of a manipulator. The core of the free-floating space manipulator modeling method comprises: by applying a cantilever beam model and an assumption modal method, establishing a manipulator kinematic model under the condition of considering the spacial flexible deformation of the arm lever; deducing a jacobian matrix of a system under the condition of considering the spacial flexible deformation of the arm lever; simulating a soft contact collision process by a Hertz damping model, establishing a kinetic equation when the tail end of the manipulator is impacted in combinaion of a lagrange equation, and finally, deducing response equations of the system when a joint is in two states: a free state and a completely-controlled state. According to the free-floating space manipulator modeling method disclosed by the invention, the problem about free-floating space manipulator modeling under the condition of considering the spacial flexible deformation of the arm lever is solved; the movement rule of the flexible arm lever in the three-dimensional space can be analyzed; a numerical simulation result shows that in the case of a certain external impact, the flexible arm lever can generate equivalent flexible deformations on a movement plane and a vertical movement plane.

Description

technical field [0001] The invention relates to a modeling method of a floating-based space manipulator considering the space flexible deformation of an arm bar, and belongs to the technical field of manipulator modeling. Background technique [0002] The space manipulator plays a very important role in the mission of human exploration of space, and the use of it for target acquisition and transfer is a key technology in the research and application of the space manipulator. Due to the limitations of rocket launch load and cost and the nature of space operations, the space manipulator is required to have the characteristics of light weight, large load capacity, and the ability to perform large-span operations, which makes the manipulator have the characteristics of slender arm and low structural rigidity. , which in turn leads to a large bending deformation and strong residual vibration during the movement. Due to the above characteristics, the flexibility factor of the arm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/367
Inventor 陈钢贾庆轩张晓东洪训超张龙
Owner BEIJING UNIV OF POSTS & TELECOMM
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