空间机械臂精度分析研究与软件实现

Research and Software Implementation of Accuracy Analysis of Space Manipulator

空间机械臂末端位姿精度影响因素众多,其中装配间隙、控制器误差以及环境因素等引起的随机误差难以消除,严重限制了空间机械臂在高精度任务场合的应用。为深入研究大型空间站机械臂末端位姿精度,采用修正D-H运动学参数建模理论,考虑几何参数及空间环境对机械臂末端位姿精度影响,提出了一种适用不同任务构型工况的冗余操作空间机械臂精度快速预估分析方法,并使用VC编写了软件人机交互界面。实例计算和试验表明,所建数学模型可实现大型空间站机械臂末端精度的快速精确预估分析,提高了空间机械臂设计分析效率。

The accuracy of space manipulator is influenced by various errors,among which the assembly backlashes,the control errors and the sensor errors are very difficult to avoid,thus the application of space manipulator is seriously limited in high operating accuracy missions.To research the accuracy of space manipulator,an accuracy analysis method for space manipulator under different conditions was developed.The modified D-H kinematics model was adopted,the influence of geometrical parameters and space environment on the end position accuracy of space manipulator was considered,and the friendly human-computer interface was designed with VC software.The calculation and the test results showed that the established mathematical model could realize fast and accurate estimation of the space manipulator accuracy;the design and analysis efficiency of space manipulator was improved.