空间两自由度机械臂操作能力及扰动分析

Manipulability and Disturbance Analysis of a Two-Link Space Robot

针对地面机器人的操作能力评价方法不能直接用于空间机器人的研究,采用微分几何中的活动标架方法,并引入体积元素的概念,将空间机械臂处于自由漂浮状态时系统动量守恒的特点融入体积元素建模中,建立了采用体积元素评价两自由度空间机械臂操作能力的数学模型.利用所建立的体积元素模型,对空间两自由度机械臂的操作能力以及在运动过程中对安装基座的扰动性进行分析,并将分析结果与采用虚拟机械臂的方法得到的分析结果进行对照,证明了该方法的有效性.

Due to the dynamic coupling of space robot system, the evaluating method of manipulability used on ground can not be directly applied to the space robot. By moving frame method in differential geometry, a volume element concept is developed to evaluate the manipulability and disturbance of a twodegree space robot system. Based on volume element model, the manipulability of manipulator and its influence on the base are analyzed as well. Their effectiveness and accuracy are verified with help of virtual manipulator approach.