在轨服务飞行器机械臂系统动力学模型

Dynamic Model of On-orbit Service Vehicle Manipulator System

将带机械臂的在轨服务飞行器（on-orbit service vehicle,OSV）等效为自由漂浮空间机械臂（free-flying space manipulator,FSM）系统,建立系统简化动力学模型。以单臂二关节机械臂平面运动为算例,分析了机械臂运动对OSV整体姿态的影响。该动力学模型既可用于分析OSV机械臂系统的运动规律,又可用于研究机械臂系统的运动规划问题。

Being equivalent to the free-flying space manipulator （FSM） system, a simplified dynamic model of on-orbit service vehicle （OSV） with manipulator is established in this article. Then, the plane motion of the manipulator system with single arm and two joints is illustrated in order to analyze the influence on OSV attitude caused by the movement. Accordingly, the dynamic model can not only be used for analyzing the rule of manipulator motion, but also for solving the motion planning problems.