太空机械臂振动形态三维重构算法及可视化分析

3D-Reconstruction Algorithm and Visualization Analysis for Space Manipulator Vibration Shape

以太空柔性伸展机械臂为仿真模型,利用光纤光栅材料的空分复用和波分复用技术,通过精确检测结构正交多点的曲率信息,实现空间结构振动形态实时感知的仿真分析;通过将运动坐标系和曲率矢量、密切平面结合,分析曲率信息插值方法、空间曲线三维拟合方法及其重构算法;结合计算机图形处理技术开发仿真试验环境,实现多关节空间曲杆柔性仿真结构振动形态的三维拟合和可视化显示。仿真结果表明,所采取的曲率检测方法及其振动形态三维拟合重构算法,比较精确反映了细长伸展结构的低模态振动形态,为进一步工程实现提供了较好的方法分析和实现思路基础。

Using extended flexible space manipulator as simulation structure model, by detecting orthogonal multipoint curvature information with space-division multiplex technique and wavelength division multiplex technique, simulation analysis based on vibration shape real-time perception of space structure was realized. Using moving coordinate system and curvature vector and osculating plane, the curvature information interpolation method and spatial curve fitting method and reconstruction algorithm were analyzed. Vibration shape fitting and 3D visualization of multi joint curved bar according to simulation flexible structure were also realized combining computer graphics processing development and simulation experiment environment. Simulation results show that the curvature detection method and fitting algorithm can reflect low mode vibration shape of slender structure more accurately, and provide the foundation of method analysis and realizing idea for further engineering realization.