摘要
针对空间机器人在轨服务任务,建立了一种六自由度机械臂模型,并建立了各关节的杆件坐标系。对机械臂各关节进行了运动学分析,对各关节末端运动空间进行了仿真。在对机械手抓捕目标飞行器分析之后,提出了一种保持平台、机械手和目标飞行器三者姿态稳定的抓捕目标方案。最后对该抓捕过程进行了运动规划,对各关节角运动情况进行了研究。
The space robot on-orbit service mission. Established a 6-DOF manipulator model, to cteate the joint coordinate system, analysis of each joint kinematics of manipulator, simulation on the end of the joint motion space, after analyze the mechanical hand to arrest the target aircraft, put forward an arrest program to keep platform, the manipulator and target aircraft＇ s posture stable. Finally, a motion planing is made on the arrest process, simulation and analysis on the movement of the joint angle.
出处
《科学技术与工程》
北大核心
2012年第21期5322-5327,共6页
Science Technology and Engineering
