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

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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

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