空间3R机器人工作空间分析

Workspace Analysis of Space 3R Robot

由于存在动力学耦合,空间机器人工作空间的分析比地面机器人复杂得多,以往的研究仅针对平面运动的情况,本文探讨了三维工作空间的分析方法。首先根据基座的不同控制策略,推导了基座位姿固定、自由飞行及自由漂浮三种模式的运动学方程,然后分析相应的工作空间。基座位姿固定时,采用几何分析法;基座自由飞行时,借助虚拟机械臂分析其受限工作空间;而对于自由漂浮模式,结合角动量守恒方程,提出了计算路径相关工作空间和路径无关工作空间的数值算法。文中以3R机器人为例进行实际计算,比较了各种工作空间的特点。最后讨论了动力学奇异回避方法,并提出减小其影响的建议。

Due to the dynamic coupling,workspace analysis of space robot is much more complex than that of a robot on earth.Only the planar space robot workspace was thoroughly studied in existing literatures.In this paper,the 3D workspace is researched.Firstly,according to different control strategy of the base,the kinamatic equations of three modes(i.e.spacecraft pose-controlled,free-flying and free-floating mode) are deduced. Then three types of workspace are formulated.When the position and orientation of the vehi...