中国空间科学技术 ›› 2019, Vol. 39 ›› Issue (6): 8-.doi: 10.16708/j.cnki.1000-758X.2019.0045

• 研究探讨 • 上一篇    下一篇

扁平体空间非合作目标多指外包络抓捕构型设计

孙冲, 万文娅, 崔尧, 袁建平   

  1. 1.西北工业大学航天飞行动力学技术重点实验室,西安710072
    2.西北工业大学航天学院,西安710072
    3.西北工业大学深圳研究院深圳智能操控实验室,深圳518060
  • 出版日期:2019-12-25 发布日期:2019-12-06

Optimal caging configuration design for flat noncooperative target capture based on multifingered mechanism

SUN Chong, WAN Wenya, CUI Yao, YUAN Jianping   

  1. 1. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,
    Xi’an 710072,China
    2. School of Astronautics,Northwestern Polytechnical University,Xi’an 710072,China
    3. Shenzhen Intelligent Manipulation Laboratory, Research & Development Institute of Northwestern Polytechnical University in Shenzhen,Shenzhen 518060,China
  • Online:2019-12-25 Published:2019-12-06

摘要: 针对空间非合作目标抓捕问题,提出了一种扁平体空间非合作目标多指外包络抓捕最优构型设计方法。该方法的核心在于:选择抓捕机构的主手指并控制它跟踪包络点;根据抓捕机构的多指几何关系计算从手指可行抓捕构型;利用外包络抓捕约束条件,以及碰撞检测约束条件,筛选出有效包络构型。与已有方法相比,该方法采用主从抓捕的简洁模式,可以大大降低抓捕构型优化的计算量,适用于空间非合作目标实时在轨抓捕。进一步,引入了抓捕安全裕度的概念,用于量化抓捕机构多指形成的抓捕包络空间和空间非合作目标运动包络之间的安全裕度。考虑到形成抓捕构型之前尽量避免空间非合作目标与抓捕机构发生碰撞,避免产生二次碎片,在设计抓捕外包络构型时选择最大抓捕安全裕度构型作为最优构型。将该算法分别应用到四边形和正五边形运动目标包络问题中,仿真结果表明了其有效性。

关键词: 空间非合作目标, 外包络抓捕, 主从抓捕模式, 安全抓捕裕度, 最优抓捕包络构型

Abstract: Aiming at the problem of space noncooperative target capture, a method was proposed for the optimal cagingbased capture configuration design of multifinger for flat noncooperative objects. The core of the method is: selecting the lead finger of the capture mechanism and controlling it to track the caging point; calculating the feasible configuration of the follow fingers according to the geometric relationship of the capture mechanism; utilizing the cagingbased capture constraints, as well as collision detection constraints, and selecting the effective cagingbased capture configuration. Compared with the existing methods, the method adopts the simple mode of leaderfollowers, which can greatly reduce the calculation of the capture configuration optimization, and is suitable for realtime onorbit capture of space noncooperative targets. Further, the concept of safe capture margin is introduced to quantify the margin between the capture mechanism and the space noncooperative target. Considering the collision avoidance between the noncooperative target and the capture mechanism before the formation of the capture configuration, the configuration with maximum safe capture margin is chosen as the optimal. In order to verify the effectiveness of the proposed method, it is applied to the quadrilateral and regular pentagon moving target capture problems respectively. The simulation results show the effectiveness of the proposed algorithm.

Key words: space noncooperative target, cagingbased capture, leaderfollower grasping mode, safe capture margin, optimal capture configuration