›› 2017, Vol. 37 ›› Issue (1): 33-40.doi: 10.16708/j.cnki.1000-758X.2017.0011

• 研究探讨 • 上一篇    下一篇

空间双柔性机械臂刚-柔耦合建模及定标误差分析

 古青波*, 李昂, 赵会光   

  1. 北京空间飞行器总体设计部,北京100094
  • 收稿日期:2016-06-27 修回日期:2016-10-13 出版日期:2017-02-25 发布日期:2016-12-16
  • 作者简介:古青波(1987-),男,工程师,gob06071202@163.com,研究方向为航天器总体设计、结构与机构设计

Rigid-flexiblecouplingmodelingandcalibrationerroranalysisofthespacedoubleflexiblemanipulators

 GU  Qing-Bo*, LI  Ang, ZHAO  Hui-Guang   

  1. BeijingInstituteofSpacecraftSystemEngineering,Beijing100094,China
  • Received:2016-06-27 Revised:2016-10-13 Online:2017-02-25 Published:2016-12-16

摘要: 为研究空间多自由度机械臂在作大范围运动时臂杆柔性和关节柔性对末端定标精度的影响,考虑柔性臂杆的横/侧向弯曲变形所引起轴向伸缩的二次耦合项,采用计入集中质量的转子扭簧模型描述关节的柔性效应;提出了基于臂杆柔性的D-H参数法,递推出空间机械臂的柔性机构运动方程;应用Hamilton原理建立了空间双柔机械臂的一次近似刚-柔耦合动力学方程。对空间六关节双柔机械臂末端定标误差进行仿真,结果表明:臂杆的柔性和关节的柔性在空间机械臂的大范围运动中是相互耦合的;在工程应用中,需要将抓取目标设定在机械臂定标误差较小的方向上,以提高抓捕和操作的成功性。

关键词: 空间机械臂, 柔性臂杆, 柔性关节, 刚-柔耦合, 定标误差

Abstract: Tostudytheimpactofthearmandjointflexibilityon theterminalcalibrationprecisionwhenthespacemulti-degreesoffreedommanipulatordidspatialmotioninalargerange,consideringthesecondarycouplingtermofaxialstretchingcausedbytheflexiblearmhorizontal/lateralbendingdeformation,aD-Hmethodwasproposedbasedonflexiblearmbyusingarotortorsion-springmodelincludinglumpedmasstodescribetheflexibleeffectofjoints.Theflexiblemechanismmovementequationofspacemanipulatorwasproposed.Thefirstapproximationrigid-flexiblecouplingdynamicsequationsofspacedoubleflexiblemanipulatorwasestablishedbyusingtheHamiltonprinciple.Thesimulationoftheterminalcalibrationerrorofthespacesixjointsdoubleflexiblemanipulatorwascarriedout.Theresultsshowthat:armandjointflexibilityarecoupledwhenthespacemanipulatorisinalargerangemovement.Toimprovethesuccessofthecaptureandoperation,thefetchingtargetsshouldbesetinthedirectionwithasmallercalibrationerrorofmanipulatorsinengineeringapplications.

Key words: spacemanipulator, flexiblearm, flexiblejoint, rigid-flexiblecoupling, calibrationerror