空间操作臂的高效率动力学建模方法

High effective dynamics modeling for space manipulators

为了减轻在无外力情况下,空间操作臂系统的操作臂与载体之间的动力学耦合作用,结合增广体、虚拟操作臂及动力学等价操作臂理论,将系统转化为一个具有等效运动学及动力学的基座固定的操作臂系统,使得固定基座操作臂系统的建模方法可以直接应用到空间操作臂系统中,将高效率动力学建模方法空间算子代数理论应用到空间操作臂系统建模中,从而解决空间操作臂系统动力学建模复杂及效率不高的问题,易于计算工作空间,为实时控制奠定了基础.

Without outside force, there is strong dynamic coupling between space manipulator and base body. To solve the problem, by using kinematically and dynamically equivalent many effective methods of dynamics of ground manipulators can be applied to space manipulators. By applying high effective and precise dynamic modeling method spatial operator algebra to space manipulators, the complex dynamics modeling and low effective eomputation of space multibody system can be solved, forming the base of dynamics and real time control, and workplace may be computed more easily.