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A Prevention Strategy for Severe Degradation of Kinematic Performance of Space Manipulator

A space manipulator, motion performance technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to meet the requirements of on-orbit operation tasks, inability to characterize the comprehensive motion performance of space manipulators, and inability to solve coupling problems

Active Publication Date: 2020-07-03
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

The existing method for calculating the artificial limit of joints is only the analytical method, which cannot solve the coupling problem existing in the solution process (when the criterion for completing the solution is related to the artificial limit, or the limit of other healthy joints after joint failure is not release, there will be a coupling problem), which leads to the fact that the artificial limit of the joint is not the ideal artificial limit; in addition, the existing criterion for completing the solution is mostly a unilateral motion performance index, which cannot represent the comprehensive motion performance of the space manipulator, resulting in the joint After the locking failure, the comprehensive motion performance of the space manipulator may not meet the requirements of the on-orbit operation task

Method used

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  • A Prevention Strategy for Severe Degradation of Kinematic Performance of Space Manipulator

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Embodiment Construction

[0083] 1. to figure 2 The seven-degree-of-freedom space manipulator shown is the research object, and its corresponding D-H parameters are shown in Table 3.

[0084] Table 3 D-H parameters corresponding to the initial configuration of the seven-degree-of-freedom space manipulator

[0085]

[0086] 2. Solve the artificial limit of each joint of the space manipulator based on the Newton-Raphson method

[0087] Let the degenerate workspace volume of the seven-degree-of-freedom space manipulator be Under normal conditions (when the joints are artificially limited), the working space volume is by index ratio In order to complete the solution criterion, the allowable error υ = 1° for the upper and lower limits of the artificial limit of each joint obtained by two adjacent iterations is determined comprehensively considering the actual calculation amount and the joint artificial limit accuracy requirements.

[0088] Set the initial artificial limit of each joint as the cor...

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Abstract

An embodiment of the invention provides a prevention strategy for serious kinematic performance degradation of a spatial manipulator. The prevention strategy comprises the following steps: analyzing unilateral kinematic performance indexes, impacted by a locking angle of a fault joint, of the spatial manipulator, and selecting a plurality of indexes to represent comprehensive kinematic performanceof the spatial manipulator; through global processing of the selected local indexes, on the basis of constructing a corresponding global fluctuation index, constructing a comprehensive kinematic performance index of the spatial manipulator by an entropy evaluation method; based on the unilateral kinematic performance indexes or the comprehensive kinematic performance index, solving manual limitations of all joints of the spatial manipulator on the basis of the Newton-Raphson method; and preventing serious kinematic performance degradation of the spatial manipulator by manually limiting a rotation range of each joint of the spatial manipulator in an ordinary state. According to the technical solution provided by the embodiment of the invention, the kinematic performance of the spatial manipulator can still meet the demands of an on-orbit operation task after locking failures of the joints.

Description

【Technical field】 [0001] The invention relates to a prevention strategy for severe degradation of motion performance of a space manipulator, and belongs to the technical field of space manipulator fault-tolerant control. [0002] 【technical background】 [0003] The strategic status of space in military, political, livelihood, economic and other aspects has prompted countries all over the world to pay more and more attention to space exploration. With the continuous deepening of human exploration of space, space manipulators with the characteristics of large span, flexible operation, and strong load capacity have become more and more widely used. However, the harsh space environment, heavy operating tasks, and complex joint structure make it very likely that the space manipulator will fail to lock the joints during its long-term service, and usually cannot be repaired in time. When the faulty joint is locked to a special angle so that the motion performance of the space manip...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1674
Inventor 陈钢李岚普贾庆轩王宣闫硕刘丹
Owner BEIJING UNIV OF POSTS & TELECOMM
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