Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Method for analyzing dynamic load capacity work space of six-degree of freedom space manipulator

A technology of space manipulators and dynamic loads, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as damage to manipulator joints, loss, and inability to complete tasks

Active Publication Date: 2017-02-22
BEIJING UNIV OF POSTS & TELECOMM
View PDF9 Cites 20 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for the manipulator with load space, the working space of the manipulator is largely limited by the mass and inertia of the end of the load on its joint torque. Once the joint torque exceeds the maximum limit that the manipulator can bear, it will It is possible to damage the joints of the robotic arm. At this time, it will not only fail to complete the task, but will also cause greater losses

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for analyzing dynamic load capacity work space of six-degree of freedom space manipulator
  • Method for analyzing dynamic load capacity work space of six-degree of freedom space manipulator
  • Method for analyzing dynamic load capacity work space of six-degree of freedom space manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0069] 1. Establish a six-degree-of-freedom space manipulator kinematics model such as figure 1 As shown, its D-H parameter description is shown in Table 2.

[0070] Table 2 Robotic arm DH parameters

[0071]

[0072] Using the Monte Carlo method, set the rotation range of each joint angle to [-180,180], set the number of random times to 5000, and generate its workspace, such as image 3 shown.

[0073] 2. Carry out position-level inverse solution for each point in the working space, and obtain the six-degree-of-freedom space manipulator configuration set Q. Taking the point [3.6,-4,2,90,-30,-90] (in m and °) in the workspace as an example, the corresponding configuration set can be obtained as shown in Table 3.

[0074] Table 3 Configuration set of six degrees of freedom manipulator

[0075]

[0076] 3. Select the maximum value v of velocity and acceleration max =0.1m / s, a max =0.02m / s 2 , traverse the direction angles α and β at intervals of 10° in the range [0,...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The embodiment of the invention provides a method for analyzing a dynamic load capacity work space of a six-degree of freedom space manipulator. The method is used for realizing the analysis and evaluation for the dynamic load capacity of the work space of the six-degree of freedom space manipulator. The method comprises the following steps of: solving the work space of the six-degree of freedom space manipulator on the basis of Monte Carlo method; constructing a configuration set and a terminal velocity vector set of each point in the work space; compounding the configuration set with the terminal velocity vector set; and considering the maximum peak torque of the joint and solving the dynamic load capacity of each point, thereby acquiring the dynamic load capacity work space of the six-degree of freedom space manipulator. According to the technical scheme provided by the embodiment of the invention, the analysis and evaluation for the dynamic load capacity of the work space of the six-degree of freedom space manipulator can be realized.

Description

【Technical field】 [0001] The invention relates to a method for analyzing the dynamic load capacity workspace of a six-degree-of-freedom space manipulator, which is used to analyze and evaluate the dynamic load capacity of the workspace of the six-degree-of-freedom space manipulator. 【Background technique】 [0002] With the continuous development of the aerospace industry in various countries, there are more and more on-orbit load operation tasks of space manipulators, such as the construction of space stations and the handling of large loads. The manipulator bears a large load and performs space operations smoothly. play a vital role. Therefore, carrying out related research on the load operation of space manipulators has great theoretical value and practical significance for human exploration of space. [0003] The commonly used method for the analysis of the working space of the manipulator is the Monte Carlo method, which obtains the reachable area at the end of the mani...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1607B25J9/1651
Inventor 陈钢贾庆轩李哲孙汉旭袁博楠郭雯王宣
Owner BEIJING UNIV OF POSTS & TELECOMM
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com