Multi-contact-point force distribution method and system for racemization of operation target of multi-wheel-arm robot

Abstract

The invention discloses a multi-contact-point force distribution method and system for racemization of an operation target of a multi-wheel-arm robot, and the method comprises the steps: achieving the enveloping of the target through the cooperative adjustment of the configuration of three mechanical arms of the multi-wheel-arm robot, and enabling all-directional controllable damping wheels at the tail ends of the mechanical arms to be in contact with the surface of the target; in the passive following mode, the arm force of each mechanical arm is dynamically planned, each omni-directional controllable damping wheel is controlled to rotate along with a target, and safe and smooth contact between the multi-wheel-arm robot and the target is achieved; and in the active racemization mode, arm power of each mechanical arm and friction torque of each omni-directional controllable damping wheel are dynamically planned, the omni-directional controllable damping wheels apply friction force, target angular momentum is released, and target racemization is achieved. According to the invention, the whole body smooth contact and stable racemization of the target are realized.

Description

technical field [0001] The invention belongs to the technical field of space on-orbit operation, and in particular relates to a multi-contact point force distribution method and system for derotation of an operation target of a multi-wheel arm robot. Background technique [0002] With the continuous development of aerospace technology, the increasing number of space debris floating in the earth's orbit has posed a great threat to the safety of satellites in orbit. Therefore, the capture of space debris through the on-orbit operation of the space manipulator has become a research hotspot. However, for large-scale tumbling targets in space such as the last stage of rockets and failed satellites, they have the characteristics of large mass, large volume, large residual angular momentum, and complex envelope. High-speed flight brings great challenges to the capture task of the robotic arm. [0003] For the capture task of large targets in high-speed spin space, the manipulator...

AI Technical Summary

Problems solved by technology

[0004] At present, the contact derotation of the target is mainly carried out by means of decelerating brushes, soft arms or mechanical pulses at the end of the manipulator to directly consume the residual angular momentum of the target, and there is a risk that the manipulator cannot withstand the impact of the target

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