空间机械臂连杆——关节质量比和惯量比影响分析

Space Robot Link-Joint Mass Ratio and Inertia Ratio Analysis

以平面肘型机械臂为例,利用几何关系将质量比和惯量比转化为连杆与关节的密度比,并搭建了以密度比为参变量的动力学模型,利用该模型分析了不同密度比下系统的动态响应,确定了系统稳定状态对应的质量比和惯量比区间,为空间机械臂设计过程中的质量分配和构型设计提供依据。

In order to analyze the space robot link-joint mass relationship and its influence on system,a plane elbow type manipulator was taken as the research object,and the link-joint mass ratio and inertia ratio were converted into the density ratio by using geometric relationship.On this basis,the dynamic model is built up with density ratio.Then,the system dynamic response with different density ratios was analyzed,and the mass ratio and inertia ratio interval in which makes system state steady were determined.The conclusion could provide basis to quality distribution and configuration design of the space robot.