摘要
研究单连杆旋转柔性空间机械臂的弯曲形状,以确定空间柔性机械臂末端的位置.在考虑连杆变形对力矩影响和曲率表示式中不忽略形状函数一阶导数平方的情况下,利用Taylor展式表示连杆的变形,导出了连杆变形的数学模型.通过降阶方法导出形状函数一阶导数的解析式,并给出了由此解析式利用数值积分确定形状函数的方法.给出了利用二分法确定变形后的连杆在其固连坐标系中最大横坐标的方法.针对一组参数进行了仿真,证实了这种方法确定空间柔性机械臂末端的位置的可行性.
This paper deals with the bending shape of space manipulator with a rotating flexible link in order to determine the position of the ends of the space manipulator. Using Taylor expansion,the mathematical model of link deformation is obtained considering the effect of link deformation on moment as well as the square of its first derivative in moment and curvature expressions. Based on the mathematical model,an analytical formulation of first derivative on link deformation is obtained by order reduction method. The shape function of link is therefore obtained by numerical integration of the analytical formulation. Moreover,a method to search the maximal abscissa of bending link in fixed coordinate frame using dichotomy is put forward in this paper. It is also validated against simulation results that this method is feasible to determine the position of the ends for space manipulator.
出处
《动力学与控制学报》
2016年第1期48-52,共5页
Journal of Dynamics and Control
基金
国家重点基础研究发展计划(973)资助(2013CB733000)~~
