摘要
针对空间双臂机器人运动学和动力学建模,对失重状态下空间机器人的运动学分析与建模进行了研究。给出了双臂机器人左右臂的DH坐标及参数,建立了正运动学的计算公式,基于臂形角的方法,给出了更高效的空间机器人冗余单臂的解析形式逆解求解方法。分析了空间双臂机器人全部工作状态,引入二元判定系数归纳得到了双臂独立运动、双臂协同操作、闭链本体漂浮、开链本体漂浮4种四种机器人工作状态,并基于拉格朗日方程得到了4种不同工作状态下的动力学模型。通过对空间双臂机器人运动学及动力学进行分析与建模,为空间双臂机器人的设计与研究提供理论基础。
To establish the kinematics and dynamics model of dual-arm space robot,a study was made to analysis the characters of the robot in non-gravity environment and modeling in this paper.The formulation for forward kinematics of the right and left arm was given out in terms of the robot's DH parameters.A more efficiency method to solve the inverse kinematics for redundant was derived based on the arm-angle approach.The 2coefficients of determination parameters were introduced to describe the working condition for space robot.The working condition was analyzed for dual-arm space robot and 4 different kinds of dynamics equations were given based on the Lagrange's equations,which were the two arms moved independently,the two arms cooperated,the base floating with closed chain and the base floating with open chain.The modeling of kinematics and dynamics laid the foundation for the design and analysis for dual-arm space robot.
出处
《上海航天》
CSCD
2017年第3期80-87,共8页
Aerospace Shanghai
基金
国家自然科学基金资助(61473187)
教育部青年教师基金资助(20130073120045)
航天先进技术联合研究中心技术创新项目资助(USCAST2015-36)
关键词
空间双臂机器人
冗余
解析形式
逆运动学
动力学
失重
建模
判定系数
dual-arm space robot
redundant
analytical
inverse kinematics
dynamics
non-gravity
modeling
coefficient of determination