考虑关节间隙的空间机械臂臂杆振动特性研究

Study on Vibration Characteristics of Space Manipulator with Joint Clearance

基于ADAMS动力学仿真软件,建立含间隙关节空间机械臂的动力学仿真模型,改变关节间隙尺寸和刚度系数等相关参数,获取不同关节间隙尺寸下的空间机械臂动力学响应;通过搭建含间隙关节的空间机械臂实验台,采用改变臂杆端盖孔径的方法改变关节间隙尺寸,分析不同关节间隙尺寸下的空间机械臂臂杆的输出振动特性。仿真与实验结果表明:臂杆末端的加速度和关节的接触碰撞力会随着空间机械臂关节间隙的增大而逐渐增大,但增幅会逐渐减小;空间机械臂关节间隙的增大还会导致关节内碰撞加剧,引起更大的能量损失。这可为提高含间隙空间机械臂的控制精度提供参考。

Based on the ADAMS dynamic simulation software, the dynamics simulation model of the space manipulator with thejoint clearance is established. The parameters of the joint clearance size and the stiffness coefficient were changed to obtain the dynamicresponse of the space manipulator with the different joint clearance size. Further, by setting up the space manipulator.experiment plat-form with joint clearance, changing the joint clearance by changing the aperture of the arm cap, the output vibration characteristics ofthe space manipulator ann under different joint clearance sizes were analyzed. Experimental and simulation results show that the accel-eration at the tip of the arm and the contact impact force of the joint increase gradually with the increasing of the joint clearance of thespace manipulator, but the amplitude decreases gradually. Space manipulator arm joint clearance increased can also lead to increasejoint collisions intensified inside, and cause greater energy loss. This can provide reference for improving the control accuracy of thespace manipulator with clearance.