摘要
在一些大型航天器上,为扩大机械臂的工作空间,往往采用宏微臂组合的方式。当微臂工作时,宏臂相当于微臂的柔性基座。针对这种宏微臂串联组合方式,设计一种被动三自由度来模拟宏臂,用于微臂的地面试验。柔性基座实现了三自由度之间的耦合,且采用不同的原理实现了三自由度方向刚度的可调性。对柔性基座进行了刚度特性分析,得到了其变形角度的刚度阵,并对其刚度阵进行了分析。为柔性基座机械臂的动力学研究提供了实验平台。
The macro - micro manipulator system is often used to expand the working large spacecrafts. When the micro arm is working, the macro manipulator is equivalent to a flexible base ofthe micro manipulator. A passive 3 dof flexible base is designed to simulate the ground veriiication of the micro manipulator. The flexible base achieves the coupling of the three degreesof freedom and variable siiffness of the three degrees of freedom by using different principles. The siiffnessmatrix is obtained and analyzedby analyzing the stiffness characteristics ofthe flexible base. platform is provided for the dynamic study of the manipulator with flexible base.
作者
赵庆刚
黄丛
敬铮
张耀文
谢宗武
ZHAO Qinggang;HUANG Cong;JING Zheng;ZHANG Yaowen;XIE Zongwu(State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;Institute of Manned Space System Engineering, Beijing 100094, China)
出处
《机械与电子》
2016年第6期76-80,共5页
Machinery & Electronics
关键词
柔性基座
变刚度
耦合
flexible base
variable stitfness
coupling
