Calculation method for optimal locking angle of spatial mechanical arm fault joint
A technology of space manipulators and joints, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of different comprehensive kinematic performance of space manipulators, low kinematic performance of manipulator joint space and operating space, and inability to continue to complete follow-up operation tasks And other issues
Inactive Publication Date: 2018-01-26
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology
[0003] There are few existing studies on solving the optimal locking angle of the faulty joint in the free swing of the space manipulator. Due to the different locking angles, the comprehensive motion performance of the space manipulator is different. When the faulty joint is locked at some special angles, the manipulator joint space and the operation space will move The performance will become very low, which may cause the degraded manipulator to be unable to continue to complete the subsequent operation tasks. Therefore, under the premise of ensuring that the joint space and the operation space motion performance are as high as possible, the optimal locking of the space manipulator's free swing joints is completed. The solution of the angle is of vital practical significance for the space manipulator to continue to complete subsequent space tasks after joint free swing failures
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[0065] 1. Establish the kinematics model of the seven-degree-of-freedom space manipulator such as figure 2 As shown, its D-H parameter description is shown in Table 1.
[0066] Assume that joint 2 of the space manipulator has a free swing failure. At this time, the angles of each joint of the space manipulator are [-21, 45, 177, 119, 140, 60, -120] (in degrees), and the corresponding pose of the end of the manipulator is [-4.72 ,-3.92,0.15,-48.81,-14.20,77.77] (in meters or degrees).
[0067] Table 1 D-H parameters of the seven-degree-of-freedom space manipulator
[0068]
[0069] 2. If the rotation range of joint 2 is [-180,180] (unit is degree), let it traverse its rotation range with a step of 1 degree, then you can get 361 locking angles; take [-4.72,-3.92,0.15,- 48.81,-14.20,77.77] (in meters or degrees) is the end pose of the space manipulator, so that the joint 2 is locked at different angles in turn, and the inverse kinematics solution of the space manipulator is...
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The embodiment of the invention provides a calculation method for an optimal locking angle of a spatial mechanical arm fault joint meeting comprehensive motion performance requirement. The calculationmethod comprises the following steps that a minimum singular value, the condition number, an operation degree index are subjected to normalization processing, and a comprehensive motion performance index of the spatial mechanical arm joint are constructed; configuration of the spatial mechanical arm fault joint locked at different angles is solved on the basis of an analysis method, the comprehensive motion performance index is used for screening the configuration meeting the comprehensive motion performance requirements so as to form a spatial mechanical arm optimal configuration set; and the volume of spatial mechanical arm degeneration working space when the fault joint is locked at different locking angles corresponding to the optimal configuration set is solved, and the locking anglecorresponding to a maximum volume is selected as the optimal locking angle of the spatial mechanical arm fault joint. According to the technical scheme provided by the embodiment of the calculation method, solving of the optimal locking angle of the free swinging fault joint of the spatial mechanical arm can be realized.
Description
【Technical field】 [0001] The invention relates to a method for solving the optimal locking angle of a free-swing fault joint of a space manipulator that satisfies the requirements of comprehensive motion performance, and belongs to the technical field of space manipulator failure processing. 【Background technique】 [0002] The harsh space environment and the complex joint structure make it inevitable that joint failures will occur in space manipulators that have been in service for a long time. The types of joint failures are mainly divided into locking and free swing. For the space manipulator with joint free swing failure, the faulty joint is locked at the angle where the kinematic performance of the manipulator meets the requirements. For the space manipulator, the on-orbit operation can still be continued after a failure. Tasks are critical. Therefore, it is very important for humans to complete space exploration to carry out relevant research on the optimal locking ang...
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Inventor 陈钢袁博楠贾庆轩王宣符颖卓刘丹
Owner BEIJING UNIV OF POSTS & TELECOMM